An envelope converging hydroponic leafy vegetable harvesting device

Abstract

The present application relates to a kind of envelope converging hydroponic leafy vegetable harvesting device, including walking device for moving, harvesting manipulator steering device and harvesting manipulator;Harvesting manipulator includes outer shell, camera, finger, middle round bar and cutting component for cutting leafy vegetable root;Camera is fixedly connected with outer shell, it is convenient to identify the form of hydroponic leafy vegetable, in turn be conducive to grabbing;The opening and closing of finger is controlled by long connecting rod II and short connecting rod II arranged on finger, simultaneously, force sensor is installed at the end of finger.The present application uses camera device, can identify the hydroponic leafy vegetable to be harvested by visual identification, adjusts manipulator to reach the best harvesting position, harvesting manipulator carries out envelope grabbing to hydroponic leafy vegetable, and the stability of grabbing is high;Force sensor can perceive the grabbing force in the process of grabbing, so as to continuously adjust grabbing finger, prevent local grabbing force to hydroponic leafy vegetable from being too large and cause leaf damage.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery, in particular to a water-cultivated leafy vegetable harvesting device with envelope gathering. BACKGROUND

[0002] Water cultivation is a kind of soilless cultivation, which refers to placing vegetables in cultivation tanks and providing them with water, nutrients, and oxygen through nutrient solution to provide a growth environment, which is conducive to the large-scale and standardized management and production of vegetables. Water-cultivated vegetables are favored by the market due to their green and healthy characteristics, short growth cycle, and ability to avoid seasonal planting problems.

[0003] Currently, water-cultivated leafy vegetables as the mainstream direction greatly improve the yield of leafy vegetables. However, for water-cultivated leafy vegetable harvesting, due to the inconsistency of the size and pose of leafy vegetables grown in cultivation tanks and the uncertainty of the direction relative to the cultivation tank hole, it is difficult to quickly and non-destructively remove the leafy vegetables from the cultivation tank by mechanical devices. Currently, manual harvesting is still the main method, and after manual harvesting, the leafy vegetables need to be cut and processed, which is labor-intensive and labor-intensive. Mechanical harvesting can effectively reduce labor intensity and improve harvesting efficiency, but mechanical devices can cause damage to water-cultivated leafy vegetables. To solve the problem of non-destructive picking of water-cultivated leafy vegetables by mechanical devices, the present application proposes a water-cultivated leafy vegetable harvesting device with envelope gathering. SUMMARY

[0004] The present application aims to provide a water-cultivated leafy vegetable harvesting device with envelope gathering, mainly to overcome the shortcomings of the prior art, solve the problem of damage to leafy vegetables caused by common harvesting machinery during operation, reduce the labor intensity of water-cultivated leafy vegetable harvesting, improve the harvesting efficiency of water-cultivated leafy vegetables, and thus improve the production efficiency. The specific technical solution is as follows:

[0005] The application discloses a hydroponic leaf vegetable harvesting device with envelope convergence, which comprises a walking device, a harvesting manipulator steering device and a harvesting manipulator.

[0006] Further, the cutting component comprises a plurality of cylinders I, a swing rod and a clamping finger arranged in the shell body; the bottom of each cylinder I is fixed on the shell body through an ear drop block respectively, the push rod of each cylinder I is connected with the swing rod respectively, and the expansion and contraction of each cylinder I can drive the corresponding swing rod to swing by a certain angle; a plurality of cylinders II are further arranged at the lower part of the shell body, the lower side of each cylinder II is provided with a clamping finger, the push rod of each cylinder II is connected with the clamping finger through a short connecting rod I respectively, the swing rod is connected with the clamping finger through a long connecting rod I, and the cylinder I and the corresponding cylinder II jointly control the opening and closing of the corresponding clamping finger.

[0007] Further, the walking device comprises walking wheels, a collecting box and a walking frame; the walking wheels are installed at the four corners of the walking frame, so that the whole collecting device can complete the actions of advancing, retreating and turning; the walking wheels are provided with brake wheels, and the brake can be manually operated; and the collecting box is fixed on the walking frame and used for accommodating the hydroponic leaf vegetables after harvesting.

[0008] Further, the harvesting mechanical hand steering device comprises an electric telescopic support arm, a rotary fixing piece, a linear module and a rotary plate; the outer shell of the harvesting mechanical hand is fixedly connected with the rotary plate through a top protruding part by screwing; the lower end of the support arm is fixed on the walking device, and the upper end of the support arm is connected with the linear module and the motor II; the linear module is connected with the support arm through the rotary fixing piece and can rotate under the action of the motor II; the linear module comprises a sliding block, a sliding plate and a linear module motor, the sliding plate is fixed on the sliding block of the linear module, and the sliding block can drive the sliding plate to move linearly; the rotary plate is connected with the output end of the motor I, and the motor I is fixed on the sliding plate through a motor I fixing piece and can linearly slide with the sliding plate.

[0009] Further, a force sensor is installed at the end of the finger, the force sensor is embedded in the finger, and the force sensor can monitor the grabbing force in real time.

[0010] Further, the lower end of the clamping finger is in the shape of a sharp blade, so that the leaf stem can be easily cut.

[0011] Further, a fixed shaft for connecting with an external traction device is arranged on the cross beam of the walking device frame.

[0012] Further, a flexible material layer is arranged on the bottom of the collecting box.

[0013] Further, a flexible material layer is arranged on the part of the finger that contacts the leafy vegetables.

[0014] Further, the material of the flexible material layer is cotton, sponge or rubber.

[0015] The beneficial effects of the present application are as follows:

[0016] 1. The camera device is used in the present application, visual recognition is performed, the water-cultivated leafy vegetables to be harvested are recognized, the mechanical hand is adjusted to reach the optimal harvesting position, and the harvesting mechanical hand performs enveloping grabbing on the water-cultivated leafy vegetables, so that the grabbing stability is high.

[0017] 2. A plurality of sensors are arranged on the grabbing fingers of the picking mechanical hand, the grabbing force can be sensed in the grabbing process, the grabbing fingers are continuously adjusted, and the local grabbing force on the leafy vegetables is prevented from being too large to cause damage to the leafy vegetables. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] 1.Figure 1 is a structural schematic diagram of the envelope gathering hydroponic leafy vegetable harvesting device of the present application;

[0020] 2. Figure 2 is a structural schematic diagram of the harvesting manipulator of the present application;

[0021] 3. Figure 3 is an enlarged schematic diagram of A in the present application; Figure 2

[0022] 4. Figure 4 is an enlarged schematic diagram of B in the present application; Figure 2

[0023] 5. Figure 5 is a schematic diagram of the harvesting manipulator in the present application in a gathering state;

[0024] 6. Figure 6 is a schematic diagram of the harvesting manipulator in the present application in an open state;

[0025] 7. Figure 7 is a structural schematic diagram of the walking device in the present application;

[0026] 8. Figure 8 is a structural schematic diagram of the harvesting manipulator steering device in the present application.

[0027] In the figure: 1, walking device; 101, walking wheel; 102, walking frame; 103, fixed shaft; 104, collection box; 2, harvesting manipulator steering device; 201, rotating plate; 202, motor I fixing part; 203, motor I; 204, sliding plate; 205, sliding block; 206, linear module motor; 207, linear module fixing part; 208, motor II fixing part; 209, motor II; 2010, support arm; 3, harvesting manipulator; 301, clamping finger; 302, short connecting rod I; 303, long connecting rod I; 304, swing rod; 305, outer housing; 306, air cylinder I; 307, intermediate circular rod; 308, camera fixing part; 309, camera; 3010, air cylinder II; 3011, upper end fixed plate; 3012, air cylinder III; 3013, intermediate moving plate; 3014, lower end fixed plate; 3015, short connecting rod II; 3016, long connecting rod II; 3017, finger; 3018, force sensor. DETAILED DESCRIPTION

[0028] ​​In the description of the present application, it is to be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0029] The present application provides the following specific embodiments of the envelope gathering hydroponic leafy vegetable harvesting device:

[0030] As shown in Figure 1 An envelope gathering hydroponic leafy vegetable harvesting device includes a walking device 1, a harvesting manipulator 3, and a harvesting manipulator steering device 2.

[0031] As shown in Figures 2-6As shown, specifically, the harvesting manipulator 3 includes an outer housing 305, a camera 309, fingers 3017, a middle round rod 307, and a cutting component for cutting the leafy vegetable roots; the outer housing 305 is connected with the harvesting manipulator steering device 2; the camera 309 is fixedly connected with the outer housing 305 through a camera fixing member 308, which facilitates the identification of the hydroponic leafy vegetable shape and is conducive to grasping; the middle round rod 307 is fixedly arranged at the inner portion of the outer housing 305 at the upper end; a upper end fixed plate 3011, a middle moving plate 3013, and a lower end fixed plate 3014 are sequentially arranged from top to bottom on the part of the middle round rod 307 extending out of the outer housing 305, the upper end fixed plate 3011 and the lower end fixed plate 3014 are directly fixed on the middle round rod 307, two air cylinders III 3012 are arranged between the upper end fixed plate 3011 and the middle moving plate 3013, and the up-and-down sliding of the middle moving plate 3013 is controlled through the air cylinders III 3012; the lower side of the lower end fixed plate 3014 is provided with circumferentially arranged fingers 3017, each finger 3017 is connected with an ear drop block of the lower end fixed plate 3014 through a short connecting rod II 3015, the connecting rod II 3015 is fixedly connected with the lower end fixed plate 3014, the finger 3017 can rotate about one end of the short connecting rod II 3015 connected therewith, the lower surface of the middle moving plate 3013 is provided with circumferentially arranged fixed rods, the lower ends of the fixed rods pass through the lower end fixed plate 3014, and each fixed rod is connected with the corresponding finger 3017 on the lower side thereof through a long connecting rod II 3016; the middle moving plate 3013 moves up and down under the action of the air cylinders III 3012, the middle moving plate 3013 drives the fixed rods to move up and down, the fixed rods drive the long connecting rod II 3015 to move, and the short connecting rod II 3015 and the long connecting rod II 3016 jointly control the opening and closing of the corresponding fingers 3017.

[0032] Specifically, the cutting component includes two air cylinders I 306, a swing rod 304, and a clamping finger 301 arranged in the outer housing 305; the bottoms of the air cylinders I 306 are fixedly arranged on the outer housing 305 through ear drop blocks respectively, the push rods of the air cylinders I 306 are connected with the swing rod 304 respectively, the expansion and contraction of each air cylinder I 306 can drive the corresponding swing rod 304 to swing by a certain angle; the lower portion of the outer housing 305 is further provided with two air cylinders II 3010, the lower sides of the air cylinders II 3010 are each provided with a clamping finger 301, the push rod of each air cylinder II 3010 is connected with the clamping finger 301 through a short connecting rod I 302, the swing rod 304 is connected with the clamping finger 301 through a long connecting rod I 303, and the air cylinder I 306 and the corresponding air cylinder II 3010 jointly control the opening and closing of the corresponding clamping finger 301.

[0033] As shown in the figure, Figure 7As shown, the walking device 1 includes walking wheels 101, a collection box 104, and a walking frame 102; the walking wheels 101 are installed at the four corners of the walking frame 102, enabling the entire collection device to move forward, backward, and turn; the walking wheels 101 are equipped with brake wheels, which can be braked manually; the collection box 104 is fixed on the walking frame 102 and is used to collect the harvested hydroponic leafy vegetables.

[0034] like Figure 8 As shown, the turning device 2 of the harvesting robot includes an electrically telescopic support arm 2010, a linear module, and a rotating plate 201; the outer shell 305 of the harvesting robot 3 is fixed to the rotating plate 201 by a threaded connection through a top protrusion; the lower end of the support arm 2010 is fixed to the walking device 1, and the upper end of the support arm 2010 is connected to the linear module and motor II 209; the linear module is connected to the support arm 2010 through a rotating fixing component, and motor II 209 is fixed to the support arm 2010 through motor II fixing component 208; the linear module is connected to the support arm 2010 through a linear module... The fixing component 207 is installed on the output end of motor II 209. Under the action of motor II 209, the linear module can rotate. The linear module includes a sliding block, a sliding plate 204 and a linear module motor 206. The sliding plate 204 is fixed on the slider 205 of the linear module. The slider 205 can drive the sliding plate 204 to move linearly. The rotating plate 201 is connected to the output end of motor I 203. Motor I 203 is fixed on the sliding plate 204 through motor I fixing component 202. Motor I 203 can slide linearly with the sliding plate 204.

[0035] Preferably, a force sensor 3018 is installed at the end of the finger 3017. The force sensor 3018 is embedded inside the finger 3017 and can monitor the gripping force in real time. The lower end of the gripper 301 is a sharp blade shape, which is convenient for cutting leafy vegetable roots and stems.

[0036] Preferably, the crossbeam of the walking device 1 frame is provided with a fixed shaft 103 for connecting with an external traction device.

[0037] Preferably, the bottom of the collection box 104 is lined with a flexible material layer, and the part of the finger 3017 that comes into contact with the leafy vegetable is also provided with a flexible material layer. The material of the flexible material layer is cotton, sponge or rubber.

[0038] In addition, the device also includes a processor for controlling the movement of the walking device, the harvesting robot and the turning device of the harvesting robot, as well as receiving camera data.

[0039] When the device is working, the harvesting device is first brought to the designated location of the hydroponic leafy vegetables to be harvested by the external traction device. The camera serves as the visual component of the device: first, the camera 309 is moved to the vicinity of the hydroponic leafy vegetables to be harvested by the harvesting mechanical arm turning device 2, so as to identify the hydroponic leafy vegetables to be harvested and obtain the spatial position information of the hydroponic leafy vegetables, so that the harvesting mechanical arm 3 can select the optimal angle for operation; then, the harvesting mechanical arm 3 performs enveloping grabbing on the hydroponic leafy vegetables: the cylinder III 3012 fixed to the upper end fixed plate 3011 of the harvesting mechanical arm 3 drives the intermediate moving plate 3013 to move upward through the contraction of the cylinder rod; with the linear upward movement of the intermediate moving plate 3013, one end of the long connecting rod II 3016 moves upward along with the fixed rod fixed to the intermediate moving plate 3013, thereby driving the other end of the long connecting rod II 3016 to move inward; at this time, the short connecting rod II 3015 is connected to the earring block fixed to the lower end fixed plate 3014, and has a limiting effect on the fingers 3017; finally, the lower end fingertips of the fingers 3017 converge inward, realizing enveloping of the hydroponic leafy vegetables to be harvested; after the enveloping is completed, the support arm 2010 is elongated, and the leafy vegetables are separated from the cultivation tank; during the separation process, the force sensor 3018 located in the fingers 3017 can monitor the pressure generated by the fingers 3017 in real time, and can also adjust the pressure generated by the fingers 3017, so as to avoid damage to the leafy vegetables caused by excessive pressure. During the process of completely separating the leafy vegetables and being transported to the upper side of the collection box 104, the cylinder rod of the cylinder I 306 located inside the upper side of the outer shell 305 contracts, so that the swing rod 304 tilts and the lower part moves close to the hydroponic leafy vegetables; at the same time, the cylinder II 3010 located on the lower end surface of the outer shell 305 also contracts and pulls the short connecting rod I 302 to move upward; under the joint action of the two, the clamping fingers 301 move relatively and clamp the roots of the hydroponic leafy vegetables to be harvested. Finally, when the harvesting mechanical arm 3 moves to the upper side of the collection box 104, all the cylinders in the harvesting mechanical arm 3 move in the opposite direction, so as to open the clamping fingers 301 and the fingers 3017, and throw the hydroponic leafy vegetables into the collection box 104 for collection. Then, the above process is repeated to harvest the next hydroponic leafy vegetable, until there is no hydroponic leafy vegetable to be harvested within the range where the harvesting device can move, and then the traction device brings it to the next harvesting location to continue the harvesting of the hydroponic leafy vegetables until all the mature hydroponic leafy vegetables are harvested.

[0040] The basic principles, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and all these changes and improvements fall within the scope of the present application.

Claims

1. A device for harvesting hydroponic leafy vegetables by enveloping and gathering them, characterized in that: It includes a walking device (1), a harvesting robot (3), and a harvesting robot steering device (2); The harvesting robot (3) includes an outer shell (305), a camera (309), fingers (3017), a central rod (307), and a cutting component for cutting the roots of leafy vegetables; the outer shell (305) is connected to the harvesting robot steering device (2); the camera (309) is fixedly connected to the outer shell (305); the upper end of the central rod (307) is fixedly installed inside the outer shell (305); the lower end of the central rod (307) extending out of the outer shell (305) is provided with an upper fixing plate (3011) and a middle moving plate (3017) from top to bottom. 13) and a lower fixed plate (3014), a cylinder III (3012) is provided between the upper fixed plate (3011) and the middle moving plate (3013); the lower fixed plate (3014) is provided with circumferentially arranged fingers (3017) on its lower side, each finger (3017) is connected to the lower fixed plate (3014) through a short connecting rod II (3015), the lower surface of the middle moving plate (3013) is provided with circumferentially arranged fixing rods, the lower end of the fixing rods passes through the lower fixed plate (3014) and is connected to the corresponding finger (3017) through a long connecting rod II (3016). The extension and retraction of cylinder III (3012) will drive the long connecting rod II (3016) to move. The short connecting rod II (3015) and the long connecting rod II (3016) work together to control the opening and closing of the corresponding finger (3017). The cutting component includes multiple cylinders I (306), a swing rod (304) and a finger clamp (301) located in the outer shell (305). The bottom of each cylinder I (306) is fixed to the outer shell (305) by earring blocks. The push rod of each cylinder I (306) is connected to the swing rod (304). The extension and retraction of the cylinder (306) can push its corresponding swing rod (304) to swing at a certain angle; the lower part of the outer shell (305) is also provided with multiple cylinders II (3010), and each cylinder II (3010) is provided with a gripper finger (301) on its lower side. The push rod of each cylinder II (3010) is connected to the gripper finger (301) through a short connecting rod I (302), and the swing rod (304) is connected to the gripper finger (301) through a long connecting rod I (303). The cylinder I (306) and its corresponding cylinder II (3010) work together to control the opening and closing of the corresponding gripper finger (301).

2. The hydroponic leafy vegetable harvesting device according to claim 1, characterized in that: The walking device (1) includes walking wheels (101), a collection box (104) and a walking frame (102); the walking wheels (101) are installed at the four corners of the walking frame (102), and the walking wheels (101) are equipped with brake wheels; the collection box (104) is fixed on the walking frame (102) and is used to collect the harvested hydroponic leafy vegetables.

3. The hydroponic leafy vegetable harvesting device according to claim 1, characterized in that: The harvesting robot steering device (2) includes an electrically telescopic support arm (2010), a linear module and a rotating plate (201); the outer shell (305) is connected to the rotating plate (201) through a top protrusion, the lower end of the support arm (2010) is fixed to the walking device (1), and the upper end of the support arm (2010) is connected to the linear module and motor II (209); The linear module is connected to the support arm (2010) through a rotating fixing component. Under the action of motor II (209), the linear module can rotate. The linear module includes a slider (205), a sliding plate (204) and a linear module motor (206). The sliding plate (204) is fixed on the slider (205) of the linear module. The slider (205) can drive the sliding plate (204) to perform linear motion. The rotating plate (201) is connected to the output end of motor I (203). Motor I (203) is fixed on the sliding plate (204) through motor I fixing component (202).

4. The hydroponic leafy vegetable harvesting device according to claim 1, characterized in that: A force sensor (3018) is installed at the end of the finger (3017), and the force sensor (3018) is embedded inside the finger (3017).

5. The hydroponic leafy vegetable harvesting device according to claim 1, characterized in that: The lower end of the finger clip (301) is sharp and blade-shaped.

6. The hydroponic leafy vegetable harvesting device according to claim 2, characterized in that: The traveling device (1) has a fixed shaft (103) on the crossbeam of the frame for connecting with an external traction device.

7. The hydroponic leafy vegetable harvesting device according to claim 2, characterized in that: The bottom of the collection box (104) is lined with a flexible material layer.

8. The hydroponic leafy vegetable harvesting device according to claim 1, characterized in that: The part of the finger (3017) that comes into contact with the leafy vegetable has a flexible material layer.

9. The hydroponic leafy vegetable harvesting device according to claim 7 or 8, characterized in that: The flexible material layer is made of cotton, sponge, or rubber.

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