A conveying device for avoiding pinching of vegetable leaves

Abstract

The present invention relates to the technical field of vegetable harvesting, and in particular to a conveying device for avoiding pinching of vegetable leaves, comprising a planting plate conveyor line, a gantry and a leaf baffle assembly, wherein the gantry is arranged on the output end of the planting plate conveyor line, and the leaf baffle assembly comprises a plurality of spaced leaf baffles, the gantry comprises a crossbeam and two side beams, the two ends of the crossbeam are fixed to the top ends of the side beams, the leaf baffles are vertically arranged on the crossbeam of the gantry, and the spacing between two adjacent leaf baffles forms a leaf baffle channel, the opening of the leaf baffle channel gradually decreases along the conveying direction of the planting plate conveyor line. The present invention can effectively avoid the contact between the mechanical clamp and the vegetables during vegetable harvesting, protect the vegetables from damage, and improve the harvesting efficiency and quality.

Description

Technical Field

[0001] The invention relates to the technical field of vegetable harvesting, in particular to a conveying device for avoiding pinching of vegetable leaves. Background Art

[0002] Vegetables in automated plant factories are planted at fixed intervals on flat planting boards. Automated harvesting of mature vegetables currently involves mechanical grippers clamping the vegetable-containing planting cups. These cups are then removed from fixed holes in the planting boards, separating the cups and vegetables from the boards for subsequent harvesting. Because vegetable leaves grow irregularly and are large, they tend to droop and obscure the planting cups. As the grippers approach the cups, they can strike and puncture the leaves, causing them to break and scatter, resulting in waste and poor quality. Summary of the Invention

[0003] Therefore, it is necessary to provide a conveying device that avoids pinching the vegetable leaves, so as to solve the problem that the existing device easily damages the vegetable leaves when the clamping claws clamp the planting cup during harvesting.

[0004] To achieve the above-mentioned purpose, the present invention provides a conveying device for avoiding pinching of vegetable leaves, comprising a planting plate conveyor line, a gantry and a leaf barrier assembly, wherein the gantry is arranged on the output end of the planting plate conveyor line, and the leaf barrier assembly comprises a plurality of spaced leaf barriers, and the gantry comprises a crossbeam and two side beams, the two ends of the crossbeam are fixed to the top ends of the side beams, and the leaf barrier blades are vertically arranged on the crossbeam of the gantry, and the distance between two adjacent leaf barriers forms a leaf barrier channel, and the opening of the leaf barrier channel gradually decreases along the conveying direction of the planting plate conveyor line.

[0005] Furthermore, the system includes a lifting cylinder vertically fixed to the side beam. The retaining blade assembly also includes a mounting plate located on the upper surface of the beam. The beam is provided with a vertically extending lifting hole. The top end of the retaining blade moves through the lifting hole and is fixed to the mounting plate. One end of the mounting plate is connected to the output shaft of the lifting cylinder. The lifting cylinder drives the retaining blade upward, freeing up space below the gantry, allowing the harvesting fixture to grasp the planting cup and then drive the planting cup upward, separating the planting cup and vegetables from the planting plate.

[0006] Furthermore, mounting holes are formed at both ends of the crossbeam, and linear bearings are installed in the mounting holes. A blade blocking guide shaft is installed in the linear bearing, and the top end of the blade blocking guide shaft is fixed to the mounting cross plate. The cooperation between the linear bearing and the blade blocking guide shaft allows the blade to move smoothly in the vertical direction.

[0007] Furthermore, the cross section of the baffle blade is V-shaped, the shape of the lifting hole is also V-shaped, and the opening end of the V-shaped baffle blade faces the output end of the planting board conveyor line. Two adjacent V-shaped baffle blades also make the opening of the baffle channel gradually decrease along the conveying direction of the planting board conveyor line.

[0008] Furthermore, it also includes two relatively arranged horizontal slide rails and a horizontal drive unit. The bottom end of the side beam is slidably set on the horizontal slide rail. The axial direction of the horizontal slide rail is parallel to the conveying direction of the planting board conveyor line. The horizontal drive unit is transmission-connected to the side beam.

[0009] Furthermore, the horizontal drive unit includes a horizontal drive motor, a synchronous belt, a driving wheel, a driven wheel, and a clamping plate. The driving wheel is arranged on the output shaft of the horizontal drive motor. The horizontal drive motor and the driven wheel are fixed to the planting plate conveyor line. The synchronous belt connects the driving wheel and the driven wheel. A side plate is fixed to a side beam of the gantry. The side plate is fixed to the clamping plate. A fixed gap is provided between the side plate and the clamping plate. The synchronous belt is fixed through the fixed gap. The horizontal drive unit is used to drive the gantry to move horizontally. After each row of vegetables is harvested and clamped, the gantry moves in the opposite direction of the planting plate conveyor line to comb the leaves of the next row of vegetables to facilitate continued harvesting.

[0010] Furthermore, a fixing protrusion is provided on the side of the clamping plate facing the side plate, and the fixing protrusion contacts the synchronous belt, making it convenient to fix it with the synchronous belt.

[0011] Furthermore, the planting board conveyor line includes a conveyor frame, two relatively arranged double-speed chains and a positioning block, the double-speed chain is fixed on the conveyor frame, the positioning block is fixed on the conveyor frame, and the positioning block is located on the output end of the double-speed chain.

[0012] The above technical solution has the following beneficial effects:

[0013] In the present invention, each leaf barrier channel corresponds to each row of vegetables to be harvested on the planting plate. When the vegetables pass through the leaf barrier channel, the barrier blades comb the leaves of the vegetables backwards, exposing the clamping parts of the planting cups that are blocked by the leaves, making it convenient for the harvesting clamp on the clamping robot to clamp the planting cups, avoiding damage to the leaves caused by the harvesting clamp colliding with the leaves during the movement of clamping the planting cups, and improving the harvesting efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a structural diagram of the combined use of the conveying device, the gripping robot, and the root pruning and harvesting conveying line described in the specific embodiment;

[0015] Figure 2This is a status diagram of the conveying device and the gripping robot used in conjunction with each other in the specific implementation method.

[0016] Figure 3 It is a structural diagram of the output end of the conveying device according to the specific implementation method.

[0017] Figure 4 It is a structural diagram of the gantry and baffle assembly described in the specific implementation method.

[0018] Figure 5 The fixing of the clamping plate and the side plate is described in detail.

[0019] Description of reference numerals:

[0020] 1. Planting board conveyor line; 11. Conveyor rack; 12. Speed ​​chain; 13. Positioning block;

[0021] 2. Gripping robot; 21. Harvesting fixture;

[0022] 3. Root cutting and harvesting conveyor line;

[0023] 4. Gantry; 41. Crossbeam; 42. Side beam; 43. Lifting hole; 44. Side plate; 45. Blade guide shaft; 46. Linear bearing; 47. Mounting hole;

[0024] 5. Blade retainer assembly; 51. Blade retainer; 52. Blade retainer channel; 53. Lifting cylinder; 54. Horizontal slide rail; 55. Horizontal drive unit; 551. Horizontal drive motor; 552. Synchronous belt; 553. Driving pulley; 554. Driven pulley; 555. Clamping plate; 56. Mounting cross plate; DETAILED DESCRIPTION

[0025] In order to explain the technical content, structural features, achieved objectives and effects of the technical solution in detail, the following is a detailed description in conjunction with specific embodiments and accompanying drawings.

[0026] See also Figure 1-5 The present embodiment provides a conveying device for avoiding pinching vegetable leaves, including a planting plate conveyor line 1, a gantry 4 and a leaf retaining assembly 5. The planting plate conveyor line 1 includes a conveyor frame 11, two oppositely arranged double-speed chains 12 and a positioning block 13. The double-speed chain 12 is fixed on the conveyor frame 11, and the positioning block 13 is fixed on the conveyor frame 11. The positioning block 13 is located on the output end of the double-speed chain 12.

[0027] The gantry 4 is arranged on the output end of the planting board conveyor line 1, and the blade assembly 5 includes a plurality of blades 51 arranged at intervals. The gantry 4 includes a crossbeam 41 and two side beams 42. The two ends of the crossbeam 41 are fixed to the top of the side beam 42. The blades 51 are vertically arranged on the crossbeam 41 of the gantry 4. The spacing between two adjacent blades 51 forms a blade channel 52. The opening of the blade channel 52 gradually decreases along the conveying direction of the planting board conveyor line 1. In this embodiment, two relatively arranged horizontal slide rails 54 and a horizontal drive unit 55 are fixed on the conveying frame 11. The axial direction of the horizontal slide rail 54 is parallel to the conveying direction of the planting board conveyor line 1. The bottom end of the side beam 42 is slidably arranged on the horizontal slide rail 54, and the horizontal drive unit 55 is transmission-connected to the side beam 42.

[0028] Specifically, the horizontal drive unit 55 includes a horizontal drive motor 551, a synchronous belt 552, a driving wheel 553, a driven wheel 554 and a clamping plate 555. The driving wheel 553 is arranged on the output shaft of the horizontal drive motor 551. The horizontal drive motor 551 and the driven wheel 554 are fixed on the conveyor frame 11. The synchronous belt 552 connects the driving wheel 553 and the driven wheel 554. A side plate 44 is fixed on a side beam 42 of the gantry 4. The side plate 44 is fixed to the clamping plate 555. A fixed gap is provided between the side plate 44 and the clamping plate 555, and the synchronous belt 552 is fixed through the fixed gap. The horizontal drive unit 55 is used to drive the gantry 4 to move horizontally. After each row of vegetables is harvested, the gantry 4 moves in the opposite direction of the planting plate conveyor line 1 to sort the leaves of the next row of vegetables to facilitate continued harvesting. The side of the clamping plate 555 facing the side plate 44 is provided with a fixing protrusion, which contacts the synchronous belt 552 to facilitate fixing with the synchronous belt 552.

[0029] A lifting cylinder 53 is vertically fixed to a side beam 42 of the gantry 4, with the output shaft of the lifting cylinder 53 facing upward. The baffle assembly 5 also includes a mounting plate 56, which is located on the upper surface of the beam 41. The beam 41 is provided with a lifting hole 43 extending vertically therethrough. The top of the baffle blade 51 moves through the lifting hole 43 and is fixed to the mounting plate 56. One end of the mounting plate 56 is connected to the output shaft of the lifting cylinder 53. The lifting cylinder 53 drives the baffle blade 51 upward, freeing up space below the gantry 4, making it easier for the harvesting fixture 21 to grasp the planting cup and drive the planting cup upward, separating the planting cup and the vegetables from the planting plate. Specifically, the output shaft of the lifting cylinder 53 is a piston rod.

[0030] In this embodiment, mounting holes 47 are formed at both ends of the crossbeam 41. Linear bearings 46 are mounted in the mounting holes 47. A blade blocking guide shaft 45 is mounted in the linear bearings 46. The top end of the blade blocking guide shaft 45 is fixed to the mounting horizontal plate 56. The cooperation between the linear bearings 46 and the blade blocking guide shaft 45 allows the blade blocking blade 51 to move smoothly in the vertical direction.

[0031] The cross-section of the baffle blades 51 is V-shaped, with the open end of the V-shaped baffle blades 51 facing the output end of the planting plate conveyor line 1. The shape of the lifting hole 43 is also V-shaped. The opening of the baffle channel 52 of two adjacent V-shaped baffle blades 51 gradually decreases along the conveying direction of the planting plate conveyor line 1. The spacing between the V-shaped baffle blades 51 is consistent with the spacing between the vegetables on the planting plate.

[0032] When harvesting vegetables, this embodiment is used in conjunction with a gripping robot 2 and a root-pruning and harvesting conveyor line 3. The gripping robot 2 is located at the output end of the planting plate conveyor line 1. A harvesting clamp 21 is fixed to the output shaft of the gripping robot 2. A planting plate recovery line is also included. The planting plate recovery line is set at the output end of the planting plate conveyor line 1. The harvesting clamp 21 includes a clamp mounting plate, multiple mechanical clamps and a vacuum suction cup. The multiple mechanical clamps are spaced apart on the clamp mounting plate. The vacuum suction cup is fixed to the clamp mounting plate. The clamp mounting plate is fixed to the output shaft of the gripping robot 2. The gripping robot 2 is a six-axis robot. The root-pruning and harvesting conveyor line 3 includes a harvesting frame, a root-pruning unit and a finished product conveyor line. The root-pruning unit and the finished product conveyor line are fixed to the harvesting frame. The root-pruning unit is located on the side of the finished product conveyor line. The root-pruning unit includes two blade assemblies that move in opposite directions. The blade assembly includes multiple blades. A tool clearance groove is provided on the side of the planting cup. The tool clearance groove corresponds to the blade.

[0033] When this embodiment is used:

[0034] 1. In the initial state, the gantry 4 is located at the output end of the planting plate conveyor line 1, and the V-shaped baffle blade 51 is located below the gantry 4;

[0035] 2. The double-speed chain 12 transports the planting board to be harvested to the positioning block 13 at the output end of the planting board conveyor line 1. Since the V-shaped blocking blades 51 are in a fixed position, before the planting board contacts the positioning block, the vegetables on the planting board will be blocked by the blocking channel 52 between the V-shaped blocking blades 51 and combed backwards;

[0036] 3. As the planting plate contacts and positions the positioning block 13 and the vegetable leaves are blocked and combed by the V-shaped blocking blades 51, the rim of the planting cup located in the cultivation hole of the planting plate at the vegetable root will be exposed, waiting to be grasped by the mechanical gripper of the gripping robot 2;

[0037] 4. The mechanical gripper on the harvesting fixture 21 moves close to the planting plate and approaches the planting cup. After it is in place, it clamps the planting cup. Since the leaves in the movement path of the gripper are blocked by the V-shaped baffle, the gripper will not come into contact with the leaves when gripping the planting cup, and thus the vegetables will not be damaged.

[0038] 5. After the clamping claws clamp the planting cup, the lifting cylinder 53 is activated, and the piston rod of the lifting cylinder 53 extends upward, lifting the mounting cross plate 56 and the V-shaped baffle blade 51 thereon, making room for the space below the gantry 4;

[0039] 6. After the blade 51 is raised, the clamp drives the planting cup to move upward, separating the planting cup and the vegetables from the planting plate, and then proceeding to the next step of harvesting;

[0040] 7. After the vegetables in the first row are harvested, the lifting cylinder 53 is activated again, and the piston rod retracts, driving the mounting plate 56 and the V-shaped baffle blades 51 thereon to descend into place;

[0041] 8. After the blade 51 is lowered into place, the horizontal drive motor 551 is activated, driving the synchronous belt 552 to move the gantry 4 to the rear row of vegetables. The moving distance is the spacing between the rows of vegetables.

[0042] 9. After the gantry 4 moves into position, the V-shaped blades 51 below the gantry 4 block the leaves of the next row of vegetables and comb them upward, exposing the planting cups to wait for the grippers to pick them up;

[0043] 10. Repeat steps 4-9. When all the vegetables on a planting plate are harvested, the gantry 4 and the V-shaped baffle blades 51 are reset to prepare for the next cycle.

[0044] In the present invention, each leaf blocking channel 52 corresponds to each row of vegetables to be harvested on the planting plate. When the vegetables pass through the leaf blocking channel 52, the leaf blocking blades 51 comb the leaves of the vegetables backwards, exposing the clamping parts of the planting cups blocked by the leaves, making it convenient for the harvesting clamp 21 on the clamping robot 2 to clamp the planting cups, avoiding damage to the leaves caused by the harvesting clamp 21 colliding with the leaves during the movement of clamping the planting cups, and improving the harvesting efficiency and quality.

[0045] It should be noted that, in this document, relational terms such as first and second, etc., are used solely to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations. Furthermore, the terms "include," "comprise," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or terminal device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. Without further limitation, elements defined by the phrase "include..." or "comprising..." do not exclude the presence of additional elements in the process, method, article, or terminal device comprising the elements. Furthermore, in this document, "greater than," "less than," "exceeding," etc., are understood to exclude the number itself; "above," "below," "within," etc., are understood to include the number itself.

[0046] Although the above embodiments have been described, those skilled in the art may make additional changes and modifications to these embodiments once they know the basic creative concepts. Therefore, the above descriptions are merely embodiments of the present invention and do not limit the scope of patent protection of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention's description and drawings, or directly or indirectly applied in other related technical fields, are also included in the scope of patent protection of the present invention.

Claims

1. A conveying device for avoiding pinching of vegetable leaves, characterized in that: It includes a planting board conveyor line, a gantry and a baffle assembly, wherein the gantry is arranged on the output end of the planting board conveyor line, the baffle assembly includes a plurality of baffle blades arranged at intervals, the gantry includes a crossbeam and two side beams, the two ends of the crossbeam are fixed to the top ends of the side beams, the baffle blades are vertically arranged on the crossbeam of the gantry, the spacing between two adjacent baffle blades forms a baffle channel, and the opening of the baffle channel gradually decreases along the conveying direction of the planting board conveyor line; The vehicle further comprises a lifting cylinder, the lifting cylinder being vertically fixed on the side beam, the blade blocking assembly further comprising a mounting cross plate, the mounting cross plate being located on the upper surface of the cross beam, the cross beam being provided with a lifting through hole extending vertically therethrough, the top end of the blade blocking the vehicle movingly passing through the lifting through hole and being fixed to the mounting cross plate, one end of the mounting cross plate being connected to the output shaft of the lifting cylinder; Both ends of the crossbeam are provided with mounting through holes, in which linear bearings are installed, and in which blade blocking guide shafts are installed, and the top ends of the blade blocking guide shafts are fixed to the mounting horizontal plate; The cross section of the baffle blade is V-shaped, the shape of the lifting through hole is also V-shaped, and the open end of the V-shaped baffle blade faces the output end of the planting board conveyor line.

2. The conveying device for avoiding pinching vegetable leaves as described in claim 1 further includes two relatively arranged horizontal slide rails and a horizontal drive unit, the bottom end of the side beam is slidably set on the horizontal slide rail, the axial direction of the horizontal slide rail is parallel to the conveying direction of the planting plate conveyor line, and the horizontal drive unit is transmission-connected to the side beam.

3. The conveying device for avoiding pinching of vegetable leaves as claimed in claim 2, characterized in that: The horizontal drive unit includes a horizontal drive motor, a synchronous belt, a driving wheel, a driven wheel and a clamping plate. The driving wheel is arranged on the output shaft of the horizontal drive motor. The horizontal drive motor and the driven wheel are fixed on the planting board conveyor line. The synchronous belt connects the driving wheel and the driven wheel. A side plate is fixed on a side beam of the gantry. The side plate is fixed to the clamping plate. A fixed gap is provided between the side plate and the clamping plate. The synchronous belt is fixed through the fixed gap.

4. The conveying device for avoiding pinching of vegetable leaves as claimed in claim 3, characterized in that: A fixing protrusion is provided on the side surface of the clamping plate facing the side plate, and the fixing protrusion contacts the synchronous belt.

5. The conveying device for avoiding pinching of vegetable leaves as claimed in claim 1, characterized in that: The planting board conveyor line includes a conveyor frame, two oppositely arranged double-speed chains and a positioning block, the double-speed chain is fixed on the conveyor frame, the positioning block is fixed on the conveyor frame, and the positioning block is located on the output end of the double-speed chain.

Images