A root sampling device for potted vegetables

Abstract

The present invention discloses a root sampling device for potted vegetables, comprising: a traveling mechanism; a soil separation mechanism, the soil separation mechanism including a knocking component, a pot body and a first driving device, the pot body including a chassis, a first housing and a second housing; the first driving device can drive the first housing and the second housing to merge or separate relative to the chassis so as to enclose or disassemble the pot body; a plurality of the knocking components are provided, the plurality of knocking components are arranged around the pot body, each knocking component includes a fixed end and a movable end, the movable end can telescopically move relative to the fixed end, and the movable end of the knocking component faces the pot body; a clamping mechanism, the traveling mechanism is used to drive the clamping mechanism to move to the soil separation mechanism, and the clamping mechanism is used to clamp the vegetables at the pot body. Through the cooperation of the openable and closable pot body and the knocking component, the integrity of the root system can be maintained to a great extent.

Description

Technical Field

[0001] The present invention relates to the technical field of sampling equipment, and particularly relates to a root sampling device for potted vegetables. Background Art

[0002] In the field of agricultural science, simulation potted experiments are mostly used for mechanistic research and exploratory research on plant cultivation, soil nutrients, etc. According to the growth medium of the pots, it can be divided into various methods such as soil cultivation, sand cultivation, and hydroponics, among which soil cultivation potted experiments are the most widely used.

[0003] In the experimental research on leafy vegetables, it is generally necessary to sample and detect the planted vegetables. The sampling operation for vegetable leaves is relatively simple, but the sampling of the whole plant including the complete roots is generally more cumbersome. Most of the existing vegetable root samplings are to separate the roots of vegetables from the soil by means of a shovel or a knife combined with manual work, which takes a long time.

[0004] However, due to manual operation errors and the limitations of existing technologies, the current sampling operation of vegetable roots generally affects the integrity of the roots and the accuracy and reliability of the final detection data. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0006] The present invention provides a root sampling device for potted vegetables, including a traveling mechanism; a soil separation mechanism, the traveling mechanism is mounted above the soil separation mechanism, the soil separation mechanism includes a knocking component, a pot body, and a first driving device, the pot body includes a chassis, a first housing, and a second housing; the first driving device can drive the first housing and the second housing to merge or separate relative to the chassis to enclose or disassemble the pot body; a plurality of knocking components are provided, the plurality of knocking components are arranged around the pot body, the knocking component includes a fixed end and a movable end, the movable end can telescopically move relative to the fixed end, and the movable end of the knocking component faces the pot body; a clamping mechanism, the traveling mechanism is in transmission connection with the clamping mechanism to drive the clamping mechanism to move to the soil separation mechanism, and the clamping mechanism is used for clamping the vegetables at the pot body.

[0007] A root sampling device for potted vegetables provided by an embodiment of the present invention has at least the following beneficial effects: The traveling mechanism is drivingly connected to the clamping mechanism, so that the clamping mechanism moves to the soil separation mechanism to clamp the main stem part of the vegetables placed in the pot body. The first driving device can drive the first housing and the second housing to merge relative to the chassis to form a pot body for vegetable growth. The first driving device can drive the first housing and the second housing to separate relative to the chassis, that is, to split the pot body, so that the soil in the pot body is exposed to the outside. A plurality of knocking components are arranged around the pot body. The knocking component includes a fixed end and a movable end. The movable end can telescopically move relative to the fixed end, and the movable end is arranged facing the pot body. Under the impact of the movable end, the soil attached to the vegetable roots can be knocked. Under the knocking action at multiple angles and multiple times, the soil located at the pot body can be separated from the vegetable roots. Compared with the traditional sampler that directly clamps the vegetable roots with clamping claws, it is beneficial to avoid the problem of incomplete vegetable roots caused by directly clamping the vegetable roots. The root sampling device for potted vegetables through the cooperation of the openable pot body and the knocking components is beneficial to improve the sampling efficiency of vegetable roots or the whole vegetable, and can largely maintain the integrity of the roots, so as to ensure the accuracy and reliability of the final detection data.

[0008] According to some embodiments of the present invention, the soil separation mechanism further includes a first vibration motor. The lower end of the chassis is connected to the first vibration motor, and a plurality of upright columns extending up and down are provided on the upper end of the chassis; the lower edges of the first housing and the second housing can both be connected to the periphery of the chassis to form a pot body.

[0009] The soil separation mechanism further includes a vibration function. The lower end of the chassis is connected to the first vibration motor, and a plurality of upright columns extending up and down are provided on the upper end of the chassis. In the initial state, the upright columns are located between the first housing and the second housing and inserted into the soil. Under the clamping and positioning action of the clamping mechanism and the vibration action of the first vibration motor, the upright columns and the soil move relative to each other, and the effect of loosening the soil from the inside can be achieved, which is beneficial to separating the vegetable roots from the soil. Cooperating with the knocking components, the separation of the soil and the vegetable roots can be realized from the inside and outside of the soil, and the separation of the soil and the vegetable roots can be achieved to a large extent from multiple angles, and the integrity of the vegetable roots can be ensured.

[0010] According to some embodiments of the present invention, the clamping mechanism includes a second driving device, a second vibration motor and two clamping claws. The second driving device can drive the two clamping claws to approach or move away from each other, and the second vibration motor is drivingly connected to the two clamping claws.

[0011] The second driving device can drive the two clamps to move closer to or away from each other, thereby clamping the main stem of the vegetable, which is beneficial to avoiding the problem of direct grasping of the leaves and roots of the vegetables and causing damage to the leaves and roots. The second vibration motor is transmission-connected to the two clamps. After the first vibration motor and the knocking component separate the soil and the roots of the vegetables to a large extent, the second vibration motor plays a role in shaking off the soil attached to the roots, and through non-contact vibration, it is beneficial to achieve soil separation while maintaining the integrity of the vegetable roots to a large extent.

[0012] According to some embodiments of the present invention, the present invention further includes a positioner, a detector and a controller. The detector is used to detect the position of the positioner. The positioner is arranged in the basin mouth area of ​​the basin body. The detector and the walking mechanism are electrically connected to the controller.

[0013] A locator is also provided at the mouth of the basin body, and a detector can detect the position of the locator. The detector and the walking mechanism are electrically connected to the controller. Through the action of the locator, the walking mechanism can more accurately move the clamping mechanism to the mouth of the basin body, and the clamping mechanism clamps the main rod part at the mouth of the vegetable basin, which is conducive to avoiding the problem of the clamping mechanism damaging the leaves or roots of the vegetables due to detection and positioning errors. In addition, through the cooperation of the locator and the detector, the soil separation mechanism can be more flexibly arranged under the walking mechanism, which is conducive to avoiding the restrictions on the layout of the soil separation mechanism by the inherent program of the walking mechanism.

[0014] According to some embodiments of the present invention, the present invention also includes a root soil collection mechanism, which includes a cleaning cylinder, a collecting plate and a third driving device. The cleaning cylinder is arranged to penetrate up and down, the collecting plate is provided with a collecting cavity with an opening facing upward, the lower end of the cleaning cylinder is connected to the collecting cavity, and the inner circumferential surface of the cleaning cylinder is provided with multiple layers of brushes arranged up and down, and the third driving device is used to drive the cleaning cylinder to rotate.

[0015] In order to meet the needs of mechanistic research and exploratory research on soil nutrients, the root sampling device for potted vegetables also includes a root soil collecting mechanism to collect soil that is closely connected to the root system. The cleaning cylinder is arranged to penetrate up and down. Under the clamping action of the clamping mechanism and the moving action of the walking mechanism, the vegetables separated from the pot body can be moved to the cleaning cylinder, and the roots of the vegetables can be placed in the cleaning cylinder. Under the driving action of the third driving device, the cleaning cylinder rotates, and the multiple layers of brushes arranged up and down in the cleaning cylinder can further clean the roots of the vegetables. The lower end of the cleaning cylinder is connected to the collecting cavity of the collecting basin. Under the cleaning action of the brush, the soil is separated from the root system and falls into the collecting plate to collect the soil attached to the root system.

[0016] According to some embodiments of the present invention, the root soil collection mechanism also includes a rotating disk and a fourth driving device, the third driving device is a driving motor; the driving motor is drivingly connected to the rotating disk to drive the rotating disk to rotate; the cleaning cylinder includes a first sub-cylinder and a second sub-cylinder, and the first sub-cylinder and the second sub-cylinder are both arranged on the upper surface of the rotating disk and are slidably connected to the rotating disk; the fourth driving device is drivingly connected to a sub-cylinder and a second sub-cylinder to drive the first sub-cylinder to merge or separate with the second sub-cylinder, and when the first sub-cylinder and the second sub-cylinder are merged, the collecting disk is located at the lower end of the cleaning cylinder.

[0017] In order to avoid as much as possible the accumulation of vegetable roots above the brush when the vegetable roots extend into the cleaning cylinder from top to bottom, or the knotting and breaking of the vegetable roots due to the blocking and rotation of the brush, the root soil collecting mechanism also includes a rotating disk and a fourth driving device. Before the vegetable roots enter the cleaning cylinder, the fourth driving device drives the first sub-cylinder and the second sub-cylinder to separate from each other, which is conducive to placing the roots vertically between the first sub-cylinder and the second sub-cylinder. Then the fourth driving device drives the first sub-cylinder and the second sub-cylinder to merge, so that the vegetable roots are placed in the cleaning cylinder, which is conducive to avoiding the accumulation of vegetable roots on the upper end of the cleaning cylinder due to the blocking effect of the brush. The third driving device drives the rotating disk to rotate, and the multiple layers of brushes arranged up and down can perform circular cleaning on the vegetable roots, and the cleaned soil falls into the collecting disk to complete the soil collection, meeting the needs of mechanistic research and exploratory research on soil nutrients.

[0018] According to some embodiments of the present invention, the present invention also includes a bagging mechanism, which includes a fifth driving device, a sixth driving device and two first clamps arranged left and right, and adhesive sheets are provided on the facing surfaces of the two first clamps. The fifth driving device is used to drive one of the first clamps to flip up and down, and the sixth driving device is used to drive the two first clamps to move away from and close to each other.

[0019] The vegetables that have completed the collection of root soil need to be bagged in order to achieve subsequent measurement and experiment of the root system. The root sampling device for potted vegetables also includes a fifth driving device. The facing surfaces of the two first clamps are provided with sticky sheets. The fifth driving device can drive one of the first clamps to flip down. Under the sticky action of the sticky sheet, one of the bags can be stuck. The first clamp is driven up by the fifth driving device, so that the bag is placed between the two first clamps. The two first clamps are driven close to each other by the sixth driving device, so that the two sticky sheets can be attached to the bag. Under the sticky action of the sticky sheet, when the two first clamps are separated, the bag can be driven to open. The clamping mechanism can put the vegetables from the bag mouth into the bag, thereby realizing the bagging operation of the vegetables.

[0020] According to some embodiments of the present invention, the present invention also includes a sampling mechanism, which is arranged adjacent to the bagging mechanism. The sampling mechanism includes a seventh driving device, an eighth driving device and two second clamping plates. The seventh driving device is used to drive the two second clamping plates to move closer to or away from each other, and the eighth driving device is used to drive the two second clamping plates to rotate left and right.

[0021] The sampling mechanism is arranged adjacent to the bagging mechanism to achieve the transfer of bagged vegetables. The second clamping plate is located above the first clamping plate. The seventh driving device is used to drive the two second clamping plates to approach each other to achieve the clamping and sealing of the bag. The eighth driving device is used to drive the two second clamping plates to rotate left and right. Under the rotation action of the eighth driving device, the bag can be separated from the adhesive sheet of the first clamping plate and the bag can be transferred to the storage area.

[0022] According to some embodiments of the present invention, the present invention also includes a cleaning mechanism, which includes a cleaning ring, a water injection cavity is provided in the cleaning ring, a plurality of nozzles arranged in a ring shape are provided on the inner circumference of the cleaning ring, a water inlet is provided on the outside of the cleaning ring, and both the nozzle and the water inlet are connected to the water injection cavity.

[0023] For some experiments, it is necessary to clean the root system. The root sampling device for potted vegetables also includes a cleaning mechanism. A water injection chamber is provided in the cleaning ring. External water can be injected into the water injection chamber from the water inlet. When the root system of the vegetable is placed in the middle of the cleaning ring, water can be sprayed from the annular nozzle to clean the root system of the vegetable, thereby realizing the root cleaning function.

[0024] According to some embodiments of the present invention, the walking mechanism includes a crossbeam, a synchronous belt assembly, a ninth drive device, a tenth drive device and two frames arranged left and right, the crossbeam is erected between the two frames and is slidably connected to the frames; the synchronous belt assembly is arranged on one of the frames and is transmission connected to the crossbeam for driving the crossbeam to move forward and backward, the crossbeam is provided with a first guide rail and a first slider, and the first slider is slidably connected to the first guide rail; the ninth drive device is transmission connected to the first slider for driving the first slider to move left and right along the crossbeam, the first slider is provided with a second guide rail and a second slider extending up and down, and the second slider is slidably connected to the second guide rail; the tenth drive device is transmission connected to the second slider for driving the second slider to move up and down along the second guide rail, and the second slider is connected to the clamping mechanism.

[0025] The synchronous belt assembly is arranged on one of the frames and is connected to the crossbeam for driving the crossbeam to move forward and backward. The ninth driving device is connected to the first slider for driving the first slider to move left and right along the crossbeam. The tenth driving device is connected to the second slider for driving the second slider to move up and down along the second guide rail, thereby meeting the needs of the walking mechanism to realize the functions of moving the clamping mechanism in the forward and backward, left and right, and up and down directions.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0028] Figure 1 FIG. is a schematic perspective view of a root sampling device for potted vegetables provided by an embodiment of the present invention;

[0029] Figure 2 is Figure 1 a top view of a root sampling device for potted vegetables shown in ;

[0030] Figure 3 is Figure 2 a sectional view taken along line A-A of a root sampling device for potted vegetables shown in ;

[0031] Figure 4 FIG. is a schematic structural view of a soil separation mechanism of a root sampling device for potted vegetables provided by an embodiment of the present invention;

[0032] Figure 5 is Figure 1 a partial enlarged view at B of a root sampling device for potted vegetables shown in ;

[0033] Figure 6 FIG. is a schematic structural view of a root soil collection mechanism of a root sampling device for potted vegetables provided by an embodiment of the present invention;

[0034] Figure 7 is Figure 6 a sectional view of a root soil collection mechanism of a root sampling device for potted vegetables shown in ;

[0035] Figure 8 FIG. is a schematic perspective view of a cleaning mechanism for potted vegetables provided by an embodiment of the present invention;

[0036] Figure 9 FIG. is a schematic perspective view of a bagging mechanism and a sampling mechanism for potted vegetables provided by an embodiment of the present invention.

[0037] In the accompanying drawings: 100, traveling mechanism; 110, frame; 120, synchronous belt assembly; 130, cross beam; 140, ninth driving device; 150, tenth driving device; 200, soil separation mechanism; 210, knocking component; 220, basin body; 221, chassis; 2211, column; 222, first housing; 223, second housing; 230, first driving device; 231, openable and closable jaw; 232, opening and closing driving cylinder; 233, up and down driving cylinder; 240, first vibration motor; 300, clamping mechanism; 310, second driving device; 320, jaw; 400, root soil collection mechanism; 410, cleaning cylinder; 411, first sub-cylinder; 412, second sub-cylinder; 413, brush; 420, collection tray; 430, third driving device; 440, rotating disc; 450, fourth driving device; 500, cleaning mechanism; 510, cleaning ring; 520, nozzle; 530, water inlet; 600, bagging mechanism; 610, fifth driving device; 620, sixth driving device; 630, first clamping plate; 631, sticking piece; 700, sampling mechanism; 710, seventh driving device; 720, eighth driving device; 730, second clamping plate. Detailed implementation manners

[0038] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0039] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0040] In the description of the present invention, the meaning of several is an indefinite quantity, the meaning of a plurality is more than two, and understandings such as greater than, less than, exceeding, etc. do not include the present number, and understandings such as above, below, within, etc. include the present number. If the first and second are described only for the purpose of distinguishing technical features, they should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features. In addition, the "and / or" appearing throughout the text represents three parallel solutions. For example, A and / or B represents the solution satisfied by A, the solution satisfied by B, or the solution satisfied by both A and B.

[0041] In the description of the present invention, if there is a short sentence containing multiple parallel features, the attributive in it limits the closest feature, for example: B, C set on A, E connected to D, which means that B is set on A, E is connected to D, and does not constitute a limitation on C; but the attributives that express the relationship between features, such as "set at intervals", "circular arrangement", etc., do not belong to this category. If the word "all" is placed before the attributive, it means that all the features in the short sentence are limited, such as B, C, D all set on A, which means that B, C and D are all set on A.

[0042] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0043] Combine the following Figures 1 - 9 Embodiments of the present invention are described.

[0044] Example 1, see Figure 1 and Figure 2 An embodiment of the present invention provides a root sampling device for potted vegetables, including: a walking mechanism 100, a soil separation mechanism 200 and a clamping mechanism 300.

[0045] The traveling mechanism 100 is erected above the soil separation mechanism 200 . A plurality of soil separation mechanisms 200 may be provided, and the plurality of soil separation mechanisms 200 are arranged in an array below the traveling mechanism 100 .

[0046] The walking mechanism 100 is transmission-connected to the clamping mechanism 300 to drive the clamping mechanism 300 to move forward and backward, left and right, and up and down, so that the clamping mechanism 300 moves to the top of the soil separation mechanism 200 so that the clamping mechanism 300 can clamp the main stem of the vegetable. This embodiment is illustrated by taking lettuce as an example.

[0047] See also Figure 3 and Figure 4 The soil separation mechanism 200 includes a striking component 210, a basin 220 and a first driving device 230. The basin 220 includes a chassis 221, a first shell 222 and a second shell 223. The lower edge of the first shell 222 and the lower edge of the second shell 223 can be connected to the chassis 221, and the side edge of the first shell 222 can be connected to the side edge of the second shell 223 to enclose the basin 220. The first driving device 230 is used to drive the first shell 222 and the second shell 223 to merge or separate relative to the chassis 221 to enclose or split the basin 220.

[0048] When the first housing 222, the second housing 223 and the chassis 221 are joined, a pot body 220 for vegetable cultivation can be formed for vegetables to grow. When it is necessary to sample the roots or the whole plant of vegetables, the first driving device 230 can drive the first housing 222 to separate from the second housing 223 relative to the chassis 221, so that the soil is exposed to the external environment, enabling the knocking component 210 to knock and loosen the soil.

[0049] A plurality of knocking components 210 are provided. The plurality of knocking components 210 are arranged around the pot body 220, so that the exposed soil can be knocked from multiple angles. The knocking component 210 includes a fixed end and a movable end. The movable end can telescopically move relative to the fixed end. The movable end of the knocking component 210 faces the pot body 220. For example, the knocking component 210 can be a cylinder, a linear module, a linear motor, etc.

[0050] After the first driving device 230 drives the first housing 222 to separate from the second housing 223, the knocking component 210 can knock the soil from the outside of the soil. Under the impact of the movable end, it can knock and loosen the soil attached to the roots of the vegetables. Under the knocking action from multiple angles and multiple times, the soil located at the pot body 220 can be separated from the roots of the vegetables. Compared with the traditional sampler that directly clamps the roots of vegetables by the clamping jaws 320, it is beneficial to avoid the problem of incomplete roots of vegetables caused by directly clamping the roots of vegetables. The root sampling device for potted vegetables through the cooperation of the openable and closable pot body 220 and the knocking component 210 is beneficial to improve the sampling efficiency of the roots or the whole plant of vegetables, and can maintain the integrity of the roots to a large extent, thus ensuring the accuracy and reliability of the final test data. The soil separation mechanism 200 controls the impact force and stroke of the knocking component 210, which is beneficial to avoid the problems of damaging the roots of vegetables or compacting the soil.

[0051] Specifically, the soil separation mechanism 200 further includes a first vibration motor 240. The lower end of the chassis 221 is connected to the first vibration motor 240, and a plurality of upright columns 2211 extending vertically are provided at the upper end of the chassis 221.

[0052] That is, the soil separation mechanism 200 also includes a vibration function. In the initial state, the column 2211 is located between the first shell 222 and the second shell 223 and inserted into the soil. Under the clamping and positioning action of the clamping mechanism 300 and the vibration action of the first vibration motor 240, the column 2211 moves relative to the soil, which can loosen the soil from the inside of the soil, which is beneficial to separating the roots of vegetables from the soil. In conjunction with the knocking component 210, the soil and the vegetable roots can be separated from the inside and outside of the soil. The separation of the soil and the vegetable roots can be achieved to a large extent from multiple angles, and the integrity of the vegetable roots can be ensured. The soil separation mechanism 200 controls the vibration amplitude and frequency of the vibration motor, the length, diameter and number of the column 2211, which is beneficial to avoiding damage to the roots of vegetables.

[0053] The first driving device 230 includes an opening and closing driving cylinder 232, an upper and lower driving cylinder 233 and an openable and closable clamping jaw 231. The left and right ends of the openable and closable clamping jaw 231 are respectively connected to the outside of the first shell 222 and the second shell 223. The opening and closing driving cylinder 232 is respectively connected to the left and right ends of the openable and closable clamping jaw 231 through two connecting rods. Under the driving action of the opening and closing driving cylinder 232, the left and right ends of the openable and closable clamping jaw 231 can rotate towards or in the opposite direction, so that the first shell 222 and the second shell 223 are connected. The two shells 223 are merged or separated relative to the chassis 221, and the upper and lower driving cylinders 233 can drive the openable and closable clamping jaws 231 to move up or down as a whole, so that the separated first shell 222 and the second shell 223 move downward, thereby avoiding the problem of obstruction to the impact of the knocking component 210. After the knocking is completed, the upper and lower driving cylinders 233 can drive the openable and closable clamping jaws 231 to move up as a whole, and under the action of the opening and closing driving cylinder 232, the first shell 222 and the second shell 223 are merged.

[0054] In some other embodiments of the present invention, the soil separation mechanism 200 may include a driving motor, which is transmission-connected to the base and eccentrically arranged, and can also loosen the soil when the base rotates; or, the soil separation mechanism 200 may include a driving cylinder, which drives the base to move back and forth or left and right, and can also separate the roots from the inside of the soil.

[0055] See also Figure 5The clamping mechanism 300 includes a second driving device 310, a second vibration motor and two clamping jaws 320. The second driving device 310 can drive the two clamping jaws 320 to move closer to or farther from each other to clamp or separate the main stem of the vegetable. The facing surfaces of the two clamping jaws 320 can be provided with a buffer layer, such as a sponge pad, a foam pad, etc., which is conducive to increasing the friction force on the vegetable and avoiding the problem of rigid clamping causing damage to the main stem of the vegetable. If the second driving device 310 is a driving cylinder, the driving cylinder is connected to the two clamping jaws 320 through two connecting rods. When the driving cylinder is extended, the two clamping jaws 320 can be rotated in the opposite direction under the pushing action of the connecting rod to separate the clamping jaws 320 from the vegetable; when the driving cylinder is retracted, the two clamping jaws 320 can be moved closer to each other under the pulling force of the connecting rod, thereby clamping the vegetable.

[0056] The second vibration motor is transmission-connected to the two clamps 320. After the first vibration motor 240 and the striking component 210 separate the soil and the roots of the vegetables to a large extent, the second vibration motor realizes the function of shaking off the soil attached to the roots. Through non-contact vibration, it is beneficial to maintain the integrity of the vegetable roots to a large extent while achieving soil separation.

[0057] The root sampling device for potted vegetables also includes a locator, a detector and a controller. The detector is used to detect the position of the locator. The locator is set in the basin mouth area of ​​the basin body 220. The detector and the walking mechanism 100 are both electrically connected to the controller. Through the action of the locator, it is beneficial for the walking mechanism 100 to more accurately move the clamping mechanism 300 to the basin mouth area of ​​the basin body 220. The clamping mechanism 300 clamps the main rod part at the basin mouth of the vegetable, which is beneficial to avoid the problem of the clamping mechanism 300 damaging the vegetable leaves or roots due to detection and positioning errors. In addition, through the cooperation of the locator and the detector, the soil separation mechanism 200 can be more flexibly arranged below the walking mechanism 100, which is beneficial to avoid the limitation of the inherent program of the walking mechanism 100 on the layout of the soil separation mechanism 200. It should be noted that the locator can be a GPS locator, infrared positioning, etc.

[0058] See also Figure 6 and Figure 7In order to meet the needs of mechanistic research and exploratory research on soil nutrients, the root sampling device of potted vegetables is also provided with a root soil collecting mechanism 400 for collecting soil closely connected to the root system. The root soil collecting mechanism 400 includes a rotating disk 440, a fourth driving device 450, a cleaning cylinder 410, a collecting disk 420 and a third driving device 430. The third driving device 430 is a driving motor; the driving motor is drivingly connected to the rotating disk 440 to drive the rotating disk 440 to rotate. The inner circumference of the cleaning cylinder 410 is provided with multiple layers of brushes 413 arranged up and down. The cleaning cylinder 410 is arranged to penetrate up and down. The cleaning cylinder 410 includes a first sub-cylinder 411 and a second sub-cylinder 412. The first sub-cylinder 411 and the second sub-cylinder 412 are both arranged on the upper surface of the rotating disk 440 and are slidably connected to the rotating disk 440. The fourth driving device 450 is transmission-connected with the first sub-cylinder and the second sub-cylinder 412 to drive the first sub-cylinder 411 to merge or separate with the second sub-cylinder 412. The collecting disk 420 is provided with a collecting cavity with an opening facing upward. When the first sub-cylinder 411 and the second sub-cylinder 412 are merged, the collecting disk 420 is located at the lower end of the cleaning cylinder 410. The fourth driving device 450 can be two groups of cylinders, linear modules, etc.

[0059] In order to prevent the vegetable roots from accumulating on the upper end of the brush 413 when the vegetable roots extend into the cleaning cylinder 410 from top to bottom, or from being tangled or torn off due to the blocking and rotating action of the brush 413, before the vegetable roots enter the cleaning cylinder 410, the fourth driving device 450 drives the first sub-cylinder 411 and the second sub-cylinder 412 to separate from each other, which is conducive to placing the roots vertically between the first sub-cylinder 411 and the second sub-cylinder 412, and then the fourth driving device 450 drives the first sub-cylinder 411 and the second sub-cylinder 412 to separate from each other. The first sub-tube 411 and the second sub-tube 412 are driven to merge, so that the root system of the vegetables is placed in the cleaning tube 410, which is conducive to avoiding the problem that the vegetables are piled up at the upper end of the cleaning tube 410 under the blocking effect of the brush 413. The third driving device 430 drives the rotating disk 440 to rotate, and the brushes 413 arranged in multiple layers can perform annular cleaning on the root system of the vegetables, and the cleaned soil falls into the collecting plate 420 to complete the collection of the soil, meeting the needs of mechanistic research and exploratory research such as soil nutrients. The brush 413 can be a soft brush with a softer texture. In some other embodiments of the present invention, the outer periphery of the cleaning tube 410 is provided with a gear ring, and the output shaft of the third driving device 430 is provided with a gear, and the gear is meshed with the gear ring, which can also drive the rotation of the cleaning tube 410.

[0060] See also Figure 8For some experiments, it is necessary to clean the roots of vegetables. The root sampling device for potted vegetables also includes a cleaning mechanism 500. The cleaning mechanism 500 includes a cleaning ring 510. A water injection cavity is provided in the cleaning ring 510. The inner circumference of the cleaning ring 510 is provided with a plurality of nozzles 520 arranged in a ring shape. A water inlet 530 is provided on the outside of the cleaning ring 510. Both the nozzle 520 and the water inlet 530 are connected to the water injection cavity. The water inlet 530 can be connected to an external water pipe.

[0061] External water can be injected into the water injection chamber from the water inlet 530 and sprayed out from multiple nozzles 520. When the roots of the vegetables are placed in the middle of the cleaning ring 510, water can be sprayed out from the annular nozzle 520 to clean the roots of the vegetables, thereby realizing the cleaning function of the vegetable roots.

[0062] See also Figure 9 After collecting the root soil or cleaning the roots, the vegetables can be bagged to facilitate the subsequent measurement and experiment of the roots. The root sampling device for potted vegetables also includes a bagging mechanism 600, which includes a fifth driving device 610, a sixth driving device 620 and two first clamps 630 arranged left and right. Adhesive sheets 631 are provided on the facing surfaces of the two first clamps 630. The fifth driving device 610 can be a driving motor, which is transmission-connected to the lower end of one of the first clamps 630, so that the first clamp 630 can be driven to flip up and down around an axis extending forward and backward, and the bag can be stacked under one of the first clamps 630. The fifth driving device 610 can drive the first clamp 630 to flip down, and under the sticky action of the adhesive sheet 631, one of the bags can be stuck, and the first clamp 630 is driven to flip up by the fifth driving device 610, so that the separated bag is placed between the two first clamps 630.

[0063] The sixth driving device 620 is used to drive the two first clamps 630 to move away from and towards each other. For example, the sixth driving device 620 can be a driving cylinder. When the separated bag is placed between the two first clamps 630, the sixth driving device 620 drives the two first clamps 630 to move towards each other, so that the two adhesive sheets 631 can be attached to the bag. Under the sticky effect of the adhesive sheets 631, when the two first clamps 630 are separated, the bag can be driven to open. After the clamping mechanism 300 is separated from the vegetables, the vegetables can fall into the bag from the bag mouth under the action of gravity, thereby realizing the bagging operation of the vegetables.

[0064] The root sampling device for potted vegetables also includes a sampling mechanism 700, which is arranged adjacent to the bagging mechanism 600, so as to realize the transfer of the bagged vegetables. The sampling mechanism 700 includes a seventh driving device 710, an eighth driving device 720 and two second clamping plates 730, the second clamping plates 730 are located above the first clamping plate 630, and the seventh driving device 710 is used to drive the two second clamping plates 730 to move closer to or away from each other. When the vegetables fall into the bag, the seventh driving device 710 can be a driving cylinder, and the two second clamping plates 730 can clamp or separate the top of the bag, so as to realize the sealing of the bag. The bag itself has a certain hardness.

[0065] The eighth driving device 720 is used to drive the two second clamping plates 730 to rotate left and right around the axis extending up and down. Under the rotation of the eighth driving device 720, the bag can be separated from the adhesive sheet 631 of the first clamping plate 630 and the bag can be transferred to the storage area.

[0066] The walking mechanism 100 includes a crossbeam 130, a synchronous belt assembly 120, a ninth driving device 140, a tenth driving device 150 and two frames 110 arranged left and right. The crossbeam 130 is erected between the two frames 110 and is slidably connected to the frames 110; the synchronous belt assembly 120 is arranged on one of the frames 110 and is transmission-connected to the crossbeam 130 to drive the crossbeam 130 to move forward and backward. A first guide rail and a first slider are provided on the crossbeam 130, and the first slider is slidably connected to the first guide rail; the ninth driving device 140 is transmission-connected to the first slider to drive the first slider to move left and right along the crossbeam 130.

[0067] The first slider is provided with a second guide rail and a second slider extending up and down, and the second slider is slidably connected to the second guide rail; the tenth drive device 150 is transmission connected to the second slider to drive the second slider to move up and down along the second guide rail, and the second slider is connected to the clamping mechanism 300, so as to meet the need to drive the clamping mechanism 300 to move forward and backward, left and right, and up and down. The ninth drive device 140 and the tenth drive device 150 can both be screw drive devices, drive cylinders, etc.

[0068] The preferred embodiments of the present invention are specifically described above, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A root sampling device for potted vegetables, characterized in that , including: a traveling mechanism (100); a soil separation mechanism (200), the traveling mechanism (100) being mounted above the soil separation mechanism (200), the soil separation mechanism (200) including a knocking member (210), a basin body (220) and a first driving device (230), the basin body (220) including a chassis (221), a first housing (222) and a second housing (223); the first driving device (230) being capable of driving the first housing (222) and the second housing (223) to merge or separate relative to the chassis (221) to enclose or disassemble the basin body (220); a plurality of the knocking members (210) being provided, the plurality of knocking members (210) being arranged around the basin body (220), each knocking member (210) including a fixed end and a movable end, the movable end being capable of telescoping relative to the fixed end, and the movable end of the knocking member (210) being disposed facing the basin body (220); a clamping mechanism (300), the traveling mechanism (100) being in transmission connection with the clamping mechanism (300) for driving the clamping mechanism (300) to move to the position of the soil separation mechanism (200), the clamping mechanism (300) being used for clamping vegetables at the basin body (220); the soil separation mechanism (200) further includes a first vibration motor (240), the lower end of the chassis (221) being connected to the first vibration motor (240), and a plurality of upright columns (2211) extending vertically being provided at the upper end of the chassis (221); the lower edges of the first housing (222) and the second housing (223) can both be connected to the periphery of the chassis (221) to enclose the basin body (220).

2. The root sampling device for potted vegetables according to claim 1, characterized in that , the clamping mechanism (300) includes a second driving device (310), a second vibration motor and two clamping jaws (320), the second driving device (310) being capable of driving the two clamping jaws (320) to approach or separate from each other, and the second vibration motor being in transmission connection with the two clamping jaws (320).

3. The root sampling device for potted vegetables according to claim 1, characterized in that , further including a positioner, a detector and a controller, the detector being used for detecting the position of the positioner, the positioner being arranged in the basin mouth area of the basin body (220), and both the detector and the traveling mechanism (100) being electrically connected to the controller.

4. The root sampling device for potted vegetables according to claim 1, wherein , further including a root soil collection mechanism (400), the root soil collection mechanism (400) including a cleaning cylinder (410), a collection tray (420) and a third driving device (430), the cleaning cylinder (410) being arranged to penetrate vertically, the collection tray (420) being provided with a collection cavity with an upward opening, the lower end of the cleaning cylinder (410) being connected to the collection cavity, and a plurality of layers of brushes (413) arranged vertically being provided on the inner peripheral surface of the cleaning cylinder (410), the third driving device (430) being used for driving the cleaning cylinder (410) to rotate.

5. The root sampling device for potted vegetables according to claim 4, characterized in that The root soil collecting mechanism (400) further comprises a rotating disk (440) and a fourth driving device (450), wherein the third driving device (430) is a driving motor; the driving motor is in driving connection with the rotating disk (440) for driving the rotating disk (440) to rotate; the cleaning cylinder (410) comprises a first sub-cylinder (411) and a second sub-cylinder (412), wherein the first sub-cylinder (411) and the second sub-cylinder (412) are both arranged on the upper surface of the rotating disk (440) and are slidably connected with the rotating disk (440); the fourth driving device (450) is in driving connection with the first sub-cylinder and the second sub-cylinder (412) for driving the first sub-cylinder (411) and the second sub-cylinder (412) to merge or separate; when the first sub-cylinder (411) and the second sub-cylinder (412) merge, the collecting disk (420) is located at the lower end of the cleaning cylinder (410).

6. The root sampling device for potted vegetables according to any one of claims 1-5, characterized in that , also includes a bagging mechanism (600), the bagging mechanism (600) includes a fifth driving device (610), a sixth driving device (620) and two first clamping plates (630) arranged on the left and right, and the two first clamping plates (630) are provided with adhesive sheets (631) on the facing surfaces. The fifth driving device (610) is used to drive one of the first clamping plates (630) to flip up and down, and the sixth driving device (620) is used to drive the two first clamping plates (630) to move away from and close to each other.

7. The root sampling device for potted vegetables according to claim 6, wherein , also includes a sampling mechanism (700), the sampling mechanism (700) is arranged adjacent to the bagging mechanism (600), the sampling mechanism (700) includes a seventh driving device (710), an eighth driving device (720) and two second clamping plates (730), the seventh driving device (710) is used to drive the two second clamping plates (730) to move closer to or away from each other, and the eighth driving device (720) is used to drive the two second clamping plates (730) to rotate left and right.

8. The root sampling device for potted vegetables according to claim 7, characterized in that , further comprising a cleaning mechanism (500), the cleaning mechanism (500) comprising a cleaning ring (510), a water injection cavity being provided inside the cleaning ring (510), a plurality of nozzles (520) being arranged in a ring shape being provided on the inner circumference of the cleaning ring (510), a water inlet (530) being provided outside the cleaning ring (510), and both the nozzle (520) and the water inlet (530) being connected to the water injection cavity.

9. The root sampling device for potted vegetables according to any one of claims 1-5, characterized in that , the traveling mechanism (100) includes a cross beam (130), a synchronous belt assembly (120), a ninth driving device (140), a tenth driving device (150), and two frames (110) arranged left and right. The cross beam (130) is mounted between the two frames (110) and is slidably connected to the frames (110); the synchronous belt assembly (120) is disposed on one of the frames (110) and is in transmission connection with the cross beam (130) for driving the cross beam (130) to move back and forth. A first guide rail and a first slider are provided on the cross beam (130), and the first slider is slidably connected to the first guide rail; the ninth driving device (140) is in transmission connection with the first slider for driving the first slider to move left and right along the cross beam (130). A second guide rail and a second slider extending vertically are provided on the first slider, and the second slider is slidably connected to the second guide rail; the tenth driving device (150) is in transmission connection with the second slider for driving the second slider to move up and down along the second guide rail, and the second slider is connected to the clamping mechanism (300).

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