Push-cut hydroponic lettuce multi-plant harvesting device

Abstract

The application discloses a push-cut type hydroponic lettuce multi-plant harvesting device. The application conveys multiple cultivation plates loaded with hydroponic lettuce, and accurately positions and conveys a single cultivation plate to the working area of a multi-plant harvesting end effector to realize accurate cutting. After harvesting a row of lettuce, the device moves by one lettuce plant spacing until the harvesting is completed, and then the device is accurately conveyed to the working area of a root removal and stacking mechanism to realize accurate root removal and accurate stacking. A cross slide mechanical arm realizes the transfer of hydroponic lettuce from the cultivation plate conveying line to the leaf conveying line. The root removal and stacking mechanism realizes the active removal of residual sponge blocks in the cultivation plate holes through contact with the root removal shaft under the action of a second double-shaft air cylinder, and realizes the stacking of the cultivation plate through contact with a limiting block. The application can realize single multi-plant harvesting of hydroponic lettuce, and the harvested lettuce is in an inverted state, which is convenient for old leaf removal and packaging and other operations. The application can realize simple cleaning and stacking collection of the cultivation plate, and is convenient for subsequent recycling.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of agricultural engineering, and particularly relates to a push-cut type multi-plant harvesting device for water-cultivated lettuce. BACKGROUND

[0002] Plant factory is a high-level stage of modern facility agriculture development, and the planting mode of the plant factory is mainly water cultivation, that is, the plant roots grow in the nutrient solution through the sponge block and the cultivation board. Leafy vegetables are the main production objects of the plant factory, and also strongly support the "vegetable basket" project, and are an essential part of people's daily life. The roots of the lettuce cultivated in the water cultivation mode are hidden in the sponge block in the cultivation board hole, and the lettuce needs to be adjusted in posture, such as being pulled to a certain height, so as to provide space for the root-cut whole-plant harvesting operation, otherwise the lettuce is in a scattered leaf state, which is easy to cause water and nutrient loss. In order to ensure the quality of the water-cultivated lettuce, manual root-cut whole-plant harvesting operation is usually adopted in the plant factory, and there are problems of low efficiency, high labor intensity, and high labor cost. And the existing researches are mostly focused on single-plant harvesting, and cannot complete the harvesting of multiple plants at one time, and the harvesting efficiency is low.

[0003] Therefore, there is a need in the field of plant factory for an equipment that can perform whole-plant harvesting operation of water-cultivated lettuce, and can perform multi-plant harvesting, so as to realize automatic and high-efficiency operation of water-cultivated lettuce harvesting. SUMMARY

[0004] In view of the above technical problems, the present application aims to provide a push-cut type multi-plant harvesting device for water-cultivated lettuce, which aims to solve the problems of low efficiency, high intensity, and high cost of manual harvesting, and the low efficiency of single-plant harvesting in the prior art, and also provides a new harvesting idea: pushing the lettuce petiole, exposing the rhizome from the sponge block in the cultivation board hole, and then cutting the exposed rhizome, so as to realize in-situ rhizome cutting and harvesting of water-cultivated lettuce, and reduce the damage to the lettuce.

[0005] In order to achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0006] The present application comprises a cultivation board conveying line, a cultivation board precise positioning conveying mechanism, a cross slide mechanical arm, a multi-plant harvesting end effector, a cultivation board root-removing stacking mechanism, and a lettuce conveying line. The cultivation board precise positioning conveying mechanism, the cross slide mechanical arm, and the cultivation board root-removing stacking mechanism are sequentially installed along the transmission direction in the cultivation board conveying line, the multi-plant harvesting end effector is installed on the cultivation board conveying line at the cross slide mechanical arm, and the lettuce conveying line is installed above the cultivation board precise positioning conveying mechanism.

[0007] The cultivation plate conveying line comprises a mounting frame, a first chain transmission, a first conveying motor, a driving shaft, a driving sprocket, a roller chain, a chain support, a first tensioning device and an idler wheel; the mounting frame is provided with corresponding roller chains on both sides, each roller chain is provided with a chain support, each roller chain is provided with a driving sprocket and an idler wheel at both ends, the roller chain at the idler wheel is fixedly provided with a first tensioning device, the driving sprockets of the roller chains on both sides of the mounting frame are connected through the driving shaft, the driving shaft is connected with the first conveying motor through the first chain transmission, and the mounting frame between the roller chains in the middle is further provided with a root separator.

[0008] The cultivation plate precise positioning conveying mechanism comprises a linear module, a cylinder slider mounting plate, a cylindrical nut, a jacking cylinder, a cylinder positioning column connecting plate, a positioning column and a suction cup; the linear module is installed at the bottom of the cultivation plate conveying line, the movement direction of the linear module is parallel to the conveying direction, the jacking cylinder is fixedly installed on the linear module through the cylinder slider mounting plate, the output shaft of the jacking cylinder is fixedly connected with the cylinder positioning column connecting plate, the cylinder positioning column connecting plate is fixedly provided with the positioning column, and the positioning column is provided with the suction cup.

[0009] The cross slide mechanical arm comprises horizontal linear modules, a slider module connecting block and vertical linear modules; the movement directions of the two horizontal linear modules are parallel to the conveying direction, and the two horizontal linear modules are fixedly installed on the mounting frames outside the cultivation plate conveying line; each vertical linear module is installed on the corresponding horizontal linear module through the slider module connecting block, and the multi-plant harvesting end effector is installed between the two vertical linear modules.

[0010] The multi-plant harvesting end effector comprises an end effector rack, double track plates, first clamping fingers, P-shaped sliding groove blocks, knife fingers, second clamping fingers and poking fingers; the end effector rack is provided with corresponding double track plates on both sides, the end effector rack between the two double track plates is fixedly provided with a driving rod assembly, the forward movement direction of the driving rod assembly is opposite to the conveying direction of the cultivation plate conveying line, the two sides of the driving rod assembly are fixedly connected with corresponding P-shaped sliding groove blocks, each P-shaped sliding groove block is slidably connected with the corresponding double track plate, the first clamping fingers and the knife fingers are arranged in an upper and lower interval, and the forward movement direction of the poking fingers is the same as that of the driving rod assembly; in the initial state, the first clamping fingers and the knife fingers are arranged on the side of the double track plates close to the cultivation plate root removal stacking mechanism, the second clamping fingers are connected with the side of the double track plates close to the lettuce conveying line, the poking fingers are installed in the end effector rack above the first clamping fingers, and the lettuce cultivation plate is placed between the first clamping fingers and the second clamping fingers.

[0011] Each double track plate is provided with a clamping sliding groove and a cutting sliding groove, each P-shaped sliding groove block is provided with a driving sliding groove, both ends of the first clamping finger and the cutter finger are connected with the outer side of the corresponding double track plate, the middle part of the first clamping finger sequentially passes through the clamping sliding groove of the first double track plate, the driving sliding groove of the first P-shaped sliding groove block, the driving sliding groove of the second P-shaped sliding groove block and the clamping sliding groove of the second double track plate, and the middle part of the cutter finger sequentially passes through the cutting sliding groove of the first double track plate, the driving sliding groove of the first P-shaped sliding groove block, the driving sliding groove of the second P-shaped sliding groove block and the cutting sliding groove of the second double track plate; wherein the clamping sliding groove 40121 and the cutting sliding groove 40122 are arranged in an upper and lower interval, in the direction of moving close to the second clamping finger 404, the clamping sliding groove 40121 is a track that is first inclined downward and then inclined upward, the inflection point of the track is recorded as a clamping inflection point, the track end point of the clamping sliding groove 40121 close to the second clamping finger 404 is higher than the track end point of the clamping sliding groove 40121 away from the second clamping finger 404; the cutting sliding groove 40122 is a track that is first inclined downward at a small angle and then inclined downward at a large angle, the inflection point of the track is recorded as a cutting inflection point; the driving sliding groove is a P-shaped sliding groove 402101 with an opening, the opening direction is away from the second clamping finger 404, specifically including two horizontally arranged horizontal tracks and two vertically arranged vertical tracks, the top of the first vertical track is in communication with the end of the upper horizontal track close to the second clamping finger 404, the bottom of the first vertical track is in communication with the lower horizontal track, the top of the second vertical track is in communication with the end of the lower horizontal track away from the second clamping finger 404; the height of the clamping inflection point is not lower than the bottom height of the first vertical track, the height of the upper horizontal track is the same as the track end point height of the clamping sliding groove 40121 close to the second clamping finger 404, the height of the lower horizontal track is the same as the track end point height of the cutting sliding groove 40122 away from the second clamping finger 404, and the bottom height of the second vertical track is the same as the track end point height of the cutting sliding groove 40122 close to the second clamping finger 404.

[0012] The first clamping finger comprises a first bearing, a first linear guide rail, a first linear sliding block, a clamping finger shaft, a clamping finger shaft fixing clamp, a second linear sliding block, a second linear guide rail and a guide rail sliding block connecting block; the middle part of the clamping finger shaft sequentially passes through the clamping sliding groove of the first double track plate, the driving sliding groove of the first P-shaped sliding groove block, the driving sliding groove of the second P-shaped sliding groove block and the clamping sliding groove of the second double track plate, and the clamping finger shaft is connected with the corresponding P-shaped sliding groove block through the first bearing; the outer side of each double track plate is fixedly provided with a first linear guide rail, the first linear guide rail is slidably provided with a first linear sliding block, the second linear guide rail is connected with the first linear sliding block through the guide rail sliding block connecting block, and the second linear sliding block is slidably arranged in the second linear guide rail; the second linear sliding block is fixedly provided with a clamping finger shaft fixing clamp, and the clamping finger shaft fixing clamp is connected with one end of the clamping finger shaft.

[0013] The cutting finger includes a second bearing, a cutting finger shaft, a blade, a cutting finger shaft fixing clamp, a guide rail slider connecting block, a fourth linear slider, a fifth linear slider, and a fourth linear guide rail. The middle part of the cutting finger shaft passes sequentially through the cutting groove of the first double track plate, the driving groove of the first P-type groove block, the driving groove of the second P-type groove block, and the cutting groove of the second double track plate. The cutting finger shaft is connected to the corresponding P-type groove block through the second bearing. Multiple blades facing the lettuce root are also fixedly installed in the middle part of the cutting finger shaft. A fifth linear guide rail is fixedly installed on the outer side of each double track plate. A fourth linear slider is slidably installed in the fifth linear guide rail. The fourth linear guide rail is connected to the fourth linear slider through the guide rail slider connecting block. The fifth linear slider is slidably installed in the fourth linear guide rail. A cutting finger shaft fixing clamp is fixedly installed in the fifth linear slider and connected to one end of the cutting finger shaft.

[0014] The second gripper includes a male round rack, a linear bearing, a linear bearing mounting plate, a horizontal bearing housing, a bearing housing mounting plate, a gear, a motor mounting plate, a motor, and a female round rack. Two linear bearing mounting plates are fixedly installed on both sides of the end effector frame. Each linear bearing mounting plate has a linear bearing installed in it via a horizontal bearing housing. A horizontally placed male or female round rack is arranged in the linear bearing. The male round rack is placed in the linear bearing on one side, and the female round rack is placed in the linear bearing on the other side. A motor mounting plate is fixedly installed on the horizontal bearing housing, and a motor is fixedly installed on the motor mounting plate. The output shaft of the motor is coaxially connected to the gear. The gear meshes with the corresponding male / female round rack to form a gear rack pair. The gear rack pairs on both sides move closer to or further away from each other, realizing the formation and disappearance of the second gripper.

[0015] The shift finger includes a parallel fixing clamp for the optical axis, an optical axis, a shift finger shaft, a rodless cylinder, a cylinder connecting block, and a vertical optical axis fixing seat. The two ends of the optical axis are slidably connected to the double track plates on both sides. The shift finger shaft is fixedly installed in the optical axis through the parallel fixing clamp for the optical axis. In the initial state, the shift finger shaft is set above the first clamp finger. The rodless cylinder is fixedly installed on the end effector frame. The rodless cylinder is connected to the middle of the optical axis through the cylinder connecting block and the vertical optical axis fixing seat.

[0016] The cultivation plate root-removing stacking mechanism comprises a rack, a flow bar, a cylinder mounting block, a second double-shaft cylinder, a cylinder jacking column connecting block, a jacking column, a root-removing shaft base, root-removing shafts, a limiting block, a limiting block base and a root collecting box; the two sides of the rack are respectively provided with the flow bars, the limiting block base is fixedly installed on the two sides of the rack near the outer sides of the flow bars, the limiting block is rotatably installed on the limiting block base, the second double-shaft cylinder is fixedly installed on the two sides of the rack near the inner sides of the flow bars through the cylinder mounting block, the output shaft of the second double-shaft cylinder is fixedly connected with the jacking column, the root collecting box is placed below the rack between the second double-shaft cylinders, the root-removing shaft base is fixedly installed on the rack, a plurality of root-removing shafts are installed at the lower surface of the root-removing shaft base, the root-removing shafts are arranged at intervals between the jacking columns, and the cultivation plate for removing the lettuce is placed on the jacking columns.

[0017] The lettuce conveying line comprises a conveying line rack, a second chain transmission, a second conveying motor, a driving roller, a belt, a driven roller and a second tensioning device; the belt is fixedly installed above the cultivation plate precise positioning and conveying mechanism through the conveying line rack, the second conveying motor is connected with the driving roller through the second chain transmission, the driving roller and the driven roller are respectively installed at the two ends of the belt, and the second tensioning device is further arranged in the belt.

[0018] Compared with the prior art, the present application has the following advantages:

[0019] 1. The present application proposes a new mechanized harvesting strategy, which is different from the previous clamping of lettuce from the top down, but clamping the leaf stalk of the lettuce from both sides, which can effectively reduce the damage to the leaf of the water culture lettuce, and has the advantages of low power consumption and low damage.

[0020] 2. The multi-plant harvesting end effector designed in the present application adopts a cam sliding groove structure, that is, through the cooperation of the moving finger, the knife finger, the P-shaped sliding groove block, the clamping sliding groove and the cutting sliding groove, the two actions of clamping and cutting stem are sequentially performed using a single power source, the action control strategy is simplified, and the arrangement of the driving mechanism hardware is reduced.

[0021] 3. The multi-plant harvesting end effector designed in the present application can realize the simultaneous harvesting of multiple plants, and improve the work efficiency.

[0022] 4. The multi-plant harvesting end effector designed in the present application adopts a prong design, which realizes fast unloading of the lettuce, and can realize the upside-down placement of the lettuce on the leafy vegetable conveying line, which is convenient for old leaf removal, packaging and other operations.

[0023] 5. The cultivation plate precise conveying line designed in the present application combines the characteristics of the cultivation plate, and realizes the precise conveying of the cultivation plate through the passive contact and fixation of the positioning column with the cultivation plate and the active contact and fixation of the suction cup with the cultivation plate, so that the cultivation plate can be precisely conveyed to any required position within the effective stroke, which provides guarantee for leafy vegetable harvesting and cultivation plate stacking positioning.

[0024] 6. The root-removing stacking mechanism of the cultivation plate can remove roots during the lifting of the cultivation plate by the air cylinder, and the execution structure and action are simple, the residual sponge block in the hole of the cultivation plate is removed, the cultivation plate is simply cleaned and stacked and collected, and subsequent recycling is facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is the overall structure schematic diagram of the push-cut type water culture lettuce multi-plant harvesting device of the present application;

[0026] Figure 2 is the structure schematic diagram of the cultivation plate conveying line;

[0027] Figure 3 is the structure schematic diagram of the cultivation plate precise positioning conveying mechanism;

[0028] Figure 4 is the structure schematic diagram of the cross slide mechanical arm;

[0029] Figure 5 is the structure schematic diagram of the multi-plant harvesting end effector and the finger;

[0030] Figure 6 is the front view of the double-rail plate;

[0031] Figure 7 is the structure schematic diagram of the first clamping finger and the knife finger;

[0032] Figure 8 is the structure schematic diagram of the second clamping finger;

[0033] Figure 9 is the front view of the P-shaped sliding groove block;

[0034] Figure 10 is the structure schematic diagram of the cultivation plate root-removing stacking mechanism;

[0035] Figure 11 is the structure schematic diagram of the leafy vegetable conveying line.

[0036] Figure 12 is the cutting action process schematic diagram of the single-plant lettuce.

[0037] In the figure: 1, cultivation plate conveying line, 101, first chain drive, 102, first conveying motor, 103, driving shaft, 104, driving sprocket, 105, roller chain, 106, chain carrier, 107, first tensioning device, 108, idler, 109, first root divider, 110, second root divider, 2, cultivation plate accurate positioning conveying mechanism, 201, straight line module, 202, cylinder sliding block mounting plate, 203, cylindrical nut, 204, jacking cylinder, 205, cylinder positioning column connecting plate, 206, positioning column, 207, suction cup fitting, 208, suction cup, 3, cross slide mechanical arm, 301, horizontal straight line module, 302, sliding block module connecting block, 303, vertical straight line module, 4, multi-plant harvesting end effector, 401, end effector rack, 4011, first aluminum profile, 4012, double rail plate, 40121, clamping sliding groove, 40122, cutting sliding groove, 4013, mechanical arm mounting plate, 402, first clamping finger, 4021, P-shaped sliding block, 402101, P-shaped sliding groove, 4022, first bearing, 4023, clamping finger shaft, 4024, first linear guide rail, 4025, first linear sliding block, 4026, clamping finger shaft fixing clamp, 4027, second linear sliding block, 4028, second linear guide rail, 4029, guide rail sliding block connecting block, 40210, second aluminum profile, 40211, first double-shaft cylinder, 40212, third linear sliding block, 40213, third linear guide rail, 403, knife finger, 4031, second bearing, 4032, knife finger shaft, 4033, knife blade, 4034, knife finger shaft fixing clamp, 4035, guide rail sliding block connecting block, 4036, fourth linear sliding block, 4037, fifth linear sliding block, 4038, fourth linear guide rail, 404, second clamping finger, 4041, male circular rack, 4042, linear bearing, 4043, linear bearing mounting plate, 4044, horizontal bearing seat, 4045, bearing seat mounting plate, 4046, gear, 4047, expansion sleeve, 4048, short shaft, 4049, shaft coupling, 40410 motor mounting plate, 40411, motor, 40412, female circular rack, 405, poking finger, 4051, fifth linear guide rail, 4052, fourth linear sliding block, 4053, horizontal light shaft fixing seat, 4054, light shaft parallel fixing clamp, 4055, light shaft, 4056, poking finger shaft, 4057, rodless cylinder, 4058, cylinder connecting block, 4059, vertical light shaft fixing seat, 5, cultivation plate root removal stacking mechanism, 501, rack, 502, flow bar mounting plate, 503, flow bar, 504, cylinder mounting block, 505, second double-shaft cylinder, 506, cylinder jacking column connecting block, 507, jacking column, 508, root removal shaft base, 509, root removal shaft, 510, limit angle aluminum, 511, limit block, 512, limit block base, 513, root collecting box, 6, lettuce conveying line, 601, conveying line rack, 602, second chain drive, 603, second conveying motor,604. Driven roller; 605. Belt; 606. Driven roller; 607. Second tensioning device. Detailed Implementation

[0038] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0039] like Figure 1 As shown, the harvesting device includes a cultivation board conveyor line 1, a cultivation board precision positioning conveyor mechanism 2, a cross slide robotic arm 3, a multi-plant harvesting end effector 4, a cultivation board root removal and stacking mechanism 5, and a lettuce conveyor line 6. The cultivation board conveyor line 1 is sequentially installed with the cultivation board precision positioning conveyor mechanism 2, the cross slide robotic arm 3, and the cultivation board root removal and stacking mechanism 5 along the transmission direction. The multi-plant harvesting end effector 4 is installed on the cultivation board conveyor line 1 at the cross slide robotic arm 3. The lettuce conveyor line 6 is installed above the cultivation board precision positioning conveyor mechanism 2.

[0040] like Figure 2 As shown, the cultivation board conveyor line 1 includes a mounting frame, a first chain drive 101, a first conveyor motor 102, a drive shaft 103, a drive sprocket 104, roller chains 105, chain supports 106, a first root divider 109, a second root divider 110, a first tensioning device 107, and an idler wheel 108. Roller chains 105 are mounted on both sides of the mounting frame, and each roller chain 105 is equipped with a chain support 106. Specifically, the upper half of the roller chain 105 has a horizontally arranged chain support 106 on its inner ring, ensuring that the upper half of the roller chain 105 remains horizontal and can horizontally convey the cultivation board. Each roller chain 105... At both ends of the 05, a drive sprocket 104 and an idler sprocket 108 are respectively installed. A first tensioning device 107 is fixedly installed inside the roller chain 105 at the idler sprocket 108 to prevent poor meshing and chain vibration. The drive sprockets 104 of the roller chains 105 on both sides of the mounting frame are connected by a drive shaft 103. The drive shaft 103 is connected to a first conveyor motor 102 through a first chain drive 101. Root separators are also installed between the two sides of the mounting frame in the middle of the roller chain 105. The root separators include multiple first root separators 109 and two second root separators 110. The second root separators 110 are located at the outermost edge and are half of the first root separators 109. During the transport of the lettuce cultivation board on the roller chain 105, the first root separators 109 and the second root separators 110 work together to separate the roots of different lettuce plants that are tangled together, preparing for the precise positioning of the cultivation board.

[0041] like Figure 3As shown, the cultivation plate precise positioning conveying mechanism 2 includes a linear module 201, a cylinder slide mounting plate 202, a cylindrical nut 203, a jacking cylinder 204, a cylinder positioning column connecting plate 205, a suction cup fitting 207, a positioning column 206 and a suction cup 208; the linear module 201 is installed in the middle of the bottom of the cultivation plate conveying line 1, and the linear module 201 extends from the lettuce conveying line 6 to the cultivation plate root-removing stacking mechanism 5. The movement direction of the linear module 201 is parallel to the transmission direction, the jacking cylinder 204 is fixedly installed on the linear module 201 through the cylinder slide mounting plate 202 and the cylindrical nut 203, the output shaft of the jacking cylinder 204 is fixedly connected with the cylinder positioning column connecting plate 205, the cylinder positioning column connecting plate 205 is fixedly installed with the positioning column 206, the positioning column 206 is installed with the suction cup 208, the suction cup 208 is connected with the suction cup fitting 207, the suction cup 208 is a circular table groove structure, which can be attached to the cultivation plate to realize precise positioning, the suction cup 208 is used for stably adsorbing the convex cultivation block at the bottom of the lettuce cultivation plate, the suction cup 208 stably adsorbs the lettuce cultivation plate after the positioning column realizes precise positioning, and the cultivation plate is prevented from being separated from the positioning column during precise conveying. The linear module 201 drives the lettuce cultivation plate to move on the cultivation plate conveying line to the cross slide mechanical arm 3 and the cultivation plate conveying line 1.

[0042] As shown in Figure 4 The cross slide mechanical arm 3 includes a horizontal linear module 301, a slide module connecting block 302 and a vertical linear module 303; the movement directions of the two horizontal linear modules 301 are parallel to the transmission direction, the two horizontal linear modules 301 are fixedly installed on the mounting frames outside the cultivation plate conveying line 1 respectively, each vertical linear module 303 is installed on the corresponding horizontal linear module 301 through the slide module connecting block 302, the multi-plant harvesting end effector 4 is installed between the two vertical linear modules 303, the height of the vertical linear module 303 is higher than the height of the lettuce conveying line 6, has two degrees of freedom in the horizontal direction and the vertical direction, and realizes the movement of the multi-plant harvesting end effector 4 in the horizontal direction and the vertical direction.

[0043] As shown in Figure 5As shown, the multi-plant harvesting end effector 4 includes an end effector frame 401, double track plates 4012, a first gripper finger 402, a P-type slide block 4021, a blade finger 403, a second gripper finger 404, and a shift finger 405. A robotic arm mounting plate 4013 is fixedly mounted on the side of the end effector frame 401 via a first aluminum profile 4011, and is used to connect the end of the robotic arm. Corresponding double track plates 4012 are installed on both sides of the end effector frame 401. A drive rod assembly is fixedly installed in the end effector frame 401 between the two double track plates 4012. The two double track plates 4012 are symmetrically arranged, parallel, and spaced apart. The forward movement direction of the drive rod assembly (i.e., the direction in which the first gripper finger 402 moves closer to the shift finger 405) is opposite to the transmission direction of the cultivation board conveyor line 1. The two sides of the drive rod assembly are respectively connected to the corresponding... P-type slide blocks 4021 are fixedly connected, and each P-type slide block 4021 is set on the inner side of the double track plate 4012. Each P-type slide block 4021 is slidably connected to the corresponding double track plate 4012. Specifically, a third linear guide rail 40213 is fixedly installed on the inner side of each double track plate 4012. A third linear slider 40212 is slidably installed in the third linear guide rail 40213. The third linear slider 40212 is fixedly connected to the corresponding P-type slide block 4021. Two P-shaped slide blocks 4021 are arranged symmetrically, and the two P-shaped slide blocks 4021 are arranged parallel and spaced apart. The first clamping finger 402 and the knife finger 403 are arranged vertically and spaced apart. The forward movement direction of the lever finger 405 is the same as the forward movement direction of the drive rod assembly. In the initial state, the first clamping finger 402 and the knife finger 403 are set on the side of the double track plate 4012 near the root-removing stacking mechanism 5 of the cultivation board. The second clamping finger 404 is connected to the side of the double track plate 4012 near the lettuce conveyor line 6. The lever finger 405 is installed in the end effector frame 401 above the first clamping finger 402. The lettuce cultivation board is placed between the first clamping finger 402 and the second clamping finger 404.

[0044] The clamping slide groove 40121 and the cutting slide groove 40122 are arranged in each double-track plate 4012, the driving slide groove is arranged in each P-shaped slide groove block 4021, the two end portions of the first clamping finger 402 and the knife finger 403 are connected with the outer side of the corresponding double-track plate 4012, the middle portion of the first clamping finger 402 sequentially passes through the clamping slide groove 40121 of the first double-track plate, the driving slide groove of the first P-shaped slide groove block, the driving slide groove of the second P-shaped slide groove block and the clamping slide groove 40121 of the second double-track plate, the middle portion of the knife finger 403 sequentially passes through the cutting slide groove 40122 of the first double-track plate, the driving slide groove of the first P-shaped slide groove block, the driving slide groove of the second P-shaped slide groove block and the cutting slide groove 40122 of the second double-track plate; wherein the clamping slide groove 40121 and the cutting slide groove 40122 are arranged in the upper and lower intervals and are not communicated, the horizontal distance of the clamping slide groove 40121 and the cutting slide groove 40122 is the same, the track end point of the clamping slide groove 40121 away from the second clamping finger 404 and the track end point of the cutting slide groove 40122 away from the second clamping finger 404 are located in the same vertical direction, the track end point of the clamping slide groove 40121 close to the second clamping finger 404 and the track end point of the cutting slide groove 40122 close to the second clamping finger 404 are located in the same vertical direction, as shown in Figure 6 the clamping slide groove 40121 is a track first obliquely downward and then obliquely upward, the inflection point of the track is recorded as the clamping inflection point, the horizontal distance between the clamping inflection point and the track end point of the clamping slide groove 40121 close to the second clamping finger 404 is less than the horizontal distance between the clamping inflection point and the track end point of the clamping slide groove 40121 away from the second clamping finger 404, and the track end point of the clamping slide groove 40121 close to the second clamping finger 404 is higher than the track end point of the clamping slide groove 40121 away from the second clamping finger 404; the cutting slide groove 40122 is a track first obliquely downward at a small angle and then obliquely downward at a large angle, the small angle in the figure is 3°, and the large angle is 15°, the inflection point of the track is recorded as the cutting inflection point, the horizontal distance between the cutting inflection point and the two track end points of the cutting slide groove is equal, and the track end point of the cutting slide groove 40122 close to the second clamping finger 404 is lower than the track end point of the cutting slide groove 40122 away from the second clamping finger 404;

[0045] as Figure 9As shown, the drive slide is an open P-shaped slide 402101 with the opening direction away from the second clamping finger 404. Specifically, it includes two horizontal tracks arranged vertically and two vertical tracks arranged horizontally. The top of the first vertical track is connected to the end of the upper horizontal track near the second clamping finger 404. The first clamping finger 402 is located successively on the first vertical track and the upper horizontal track. The bottom of the first vertical track is connected to the lower horizontal track. Specifically, the bottom of the first vertical track is connected to the end of the lower horizontal track near the second clamping finger 404, or the bottom of the first vertical track is connected to the middle of the lower horizontal track. The top of the second vertical track is connected to the end of the lower horizontal track away from the second clamping finger 404. The blade finger 403 is located successively on the lower horizontal track and the second vertical track. The horizontal distance between the upper and lower horizontal tracks is equal and is half the horizontal distance of the cutting chute. The height of the clamping inflection point is not lower than the bottom height of the first vertical track. The height of the end point of the clamping chute 40121 away from the second clamping finger 404 is not higher than the top height of the first vertical track. The height of the upper horizontal track is the same as the height of the end point of the clamping chute 40121 near the second clamping finger 404. The height of the lower horizontal track is the same as the height of the end point of the cutting chute 40122 away from the second clamping finger 404. The bottom height of the second vertical track is the same as the height of the end point of the cutting chute 40122 near the second clamping finger 404.

[0046] In the initial state, such as Figure 12 As shown in Figure a, the first clamping finger 402 and the cutting finger 403 are arranged vertically in the first vertical track of the P-shaped slide. The cutting finger 401 is located in the lower horizontal track directly below the moving finger 301, or it can be located in the lower horizontal track to the left or right of the moving finger 301. During the movement of the P-shaped slide block 4021 towards the second clamping finger 404, the first clamping finger 402 is always in the first vertical track, moving obliquely downward along the clamping slide 40121. The cutting finger 403 is located at the track end of the cutting slide 40122 away from the second clamping finger 404, remaining stationary. Within the P-shaped slide block 4021, it moves from the track end of the lower horizontal track near the second clamping finger 404 to the track end away from the second clamping finger 404. Figure 12 As shown in b; then, under the action of the first vertical track, the first gripping finger 402 moves obliquely downward and then obliquely upward along the gripping groove 101 until it contacts the lettuce plant; under the action of the second vertical track, the cutting finger 403 moves obliquely downward a short distance along the cutting groove 40122 at a small angle, as shown in b. Figure 12 As shown in c; then the first gripper 402 moves from below the first vertical track to the top, the first gripper 402 cooperates with the second gripper 404 to hold the lettuce, while exposing the root and stem hidden in the sponge block, the knife finger 403 continues to move obliquely downwards at a small angle along the cutting groove 40122 to the cutting inflection point, as... Figure 12The first clamping finger 402 keeps still, always cooperates with the second clamping finger 404 and clamps the lettuce, moves from the track end point close to the second clamping finger 404 to the track end point far from the second clamping finger 404 in the P-shaped sliding block 4021, the knife finger 403 moves from the top of the second vertical track to the bottom of the second vertical track, and moves at a large angle downward along the cutting sliding groove 40122 to the track end point of the cutting sliding groove 40122 close to the second clamping finger 404, during which the blade on the knife finger 401 gradually approaches the lettuce root until cutting, as shown in Figure 12

[0047] As shown in Figure 7 The first clamping finger 402 includes a first bearing 4022, a first linear guide rail 4024, a first linear sliding block 4025, a clamping finger shaft 4023, a clamping finger shaft fixing clamp 4026, a second linear sliding block 4027, a second linear guide rail 4028 and a guide rail sliding block connecting block 4029. The middle part of the clamping finger shaft 4023 sequentially passes through the clamping sliding groove 40121 of the first double-track plate, the driving sliding groove of the first P-shaped sliding block, the driving sliding groove of the second P-shaped sliding block and the clamping sliding groove 40121 of the second double-track plate. The clamping finger shaft 4023 is connected with the corresponding P-shaped sliding block 4021 through the first bearing 4022. The outer side of each double-track plate 4012 is fixedly installed with the first linear guide rail 4024, the sliding direction of the first linear guide rail 4024 is parallel to the movement direction of the driving rod assembly, the first linear sliding block 4025 is slidingly installed in the first linear guide rail 4024, the second linear guide rail 4028 is connected with the first linear sliding block 4025 through the guide rail sliding block connecting block 4029, the second linear sliding block 4027 is slidingly installed in the second linear guide rail 4028, the clamping finger shaft fixing clamp 4026 is fixedly installed in the second linear sliding block 4027, and the clamping finger shaft fixing clamp 4026 is connected with one end of the clamping finger shaft 4023 to limit the rotation degree of freedom of the clamping finger shaft 4023. In the embodiment, the driving rod assembly includes a second aluminum profile 40210 and a first double-shaft air cylinder 40211, the forward movement direction of the first double-shaft air cylinder 40211 is opposite to the conveying direction, the driving rod of the first double-shaft air cylinder 40211 is fixedly connected with the middle part of the second aluminum profile 40210, and the two ends of the second aluminum profile 40210 are fixedly connected with the corresponding P-shaped sliding block 4021.

[0048] ​The cutting finger 403 includes a second bearing 4031, a cutting finger shaft 4032, a cutting blade 4033, a cutting finger shaft fixing clamp 4034, a guide rail slider connecting block 4035, a fourth linear slider 4036, a fifth linear slider 4037, and a fourth linear guide rail 4038. The middle part of the cutting finger shaft 4032 passes sequentially through the cutting groove 40122 of the first double track plate, the driving groove of the first P-type sliding block, the driving groove of the second P-type sliding block, and the cutting groove 40122 of the second double track plate. The cutting finger shaft 4032 is connected to the corresponding P-type sliding block 4021 through the second bearing 4031. Multiple oriented... The lettuce root blade 4033 has a fifth linear slide rail fixedly installed on the outer side of each double track plate 4012. The fifth linear slide rail is the first linear guide rail 4024. A fourth linear slider 4036 is slidably installed in the fifth linear slide rail. The fourth linear guide rail 4038 is connected to the fourth linear slider 4036 through a guide rail slider connecting block 4035. The fifth linear slider 4037 is slidably installed in the fourth linear guide rail 4038. A blade finger shaft fixing clamp 4034 is fixedly installed in the fifth linear slider 4037. The blade finger shaft fixing clamp 4034 is connected to one end of the blade finger shaft 4032 and is used to restrict the rotational freedom of the clamping finger shaft 4032.

[0049] like Figure 8 (a) and Figure 8 As shown in (b), the second clamping finger 404 includes a male round rack 4041, a linear bearing 4042, a linear bearing mounting plate 4043, a horizontal bearing housing 4044, a bearing housing mounting plate 4045, a gear 4046, a shrink sleeve 4047, a short shaft 4048, a coupling 4049, a motor mounting plate 40410, a motor 40411, and a female round rack 40412; two linear bearing mounting plates 4043 are respectively fixedly installed on both sides of the end effector frame 401, each linear bearing mounting plate 4043 is connected to the side of the corresponding double track plate 4012 near the lettuce conveyor line 6, and a linear bearing 4042 is installed in each linear bearing mounting plate 4043 through the horizontal bearing housing 4044, and the linear bearing 4042 is arranged in a manner that is not explicitly stated in the original text. A horizontally placed male round rack 4041 or female round rack 40412 is provided. The male round rack 4041 is placed in the linear bearing 4042 on one side, and the female round rack 40412 is placed in the linear bearing 4042 on the other side. A motor mounting plate 40410 is fixedly installed on the horizontal bearing housing 4044, and a motor 40411 is fixedly installed on the motor mounting plate 40410. The output shaft of the motor 40411 is coaxially fixed to the gear 4046 through a coupling 4049, a short shaft 4048, and a shrink sleeve 4047. The gear 4046 meshes with the corresponding male round rack 4041 / female round rack 40412 to form a gear rack pair. The gear rack pairs on both sides move closer or further away from each other, realizing the formation and disappearance of the second gripper finger 404.

[0050] The dialing finger 405 comprises a fifth linear guide rail 4051, a fourth linear sliding block 4052, a horizontal optical axis fixing seat 4053, an optical axis parallel fixing clamp 4054, an optical axis 4055, a dialing finger shaft 4056, a rodless air cylinder 4057, an air cylinder connecting block 4058 and a vertical optical axis fixing seat 4059; the two ends of the optical axis 4055 are respectively connected with the two sides of the double track plate 4012 in a sliding manner, specifically, the inner side of each double track plate 4012 is fixedly provided with the fifth linear guide rail 4051, the fourth linear sliding block 4052 is slidingly installed in the fifth linear guide rail 4051, and the third linear sliding block 40212 is connected with the end of the optical axis 4055 through the horizontal optical axis fixing seat 4053. The dialing finger shaft 4056 is fixedly installed in the optical axis 4055 through the optical axis parallel fixing clamp 4054, can realize vertical height adjustment, and in the initial state, the dialing finger shaft 4056 is arranged above the clamping finger shaft 4023 of the first clamping finger 402. The rodless air cylinder 4057 is fixedly installed on the end effector rack 401, and the rodless air cylinder 4057 is connected with the middle part of the optical axis 4055 through the air cylinder connecting block 4058 and the vertical optical axis fixing seat 4059.

[0051] As Figure 10As shown, the cultivation plate root removal stacking mechanism 5 comprises a rack 501, a flow bar mounting plate 502, a flow bar 503, a cylinder mounting block 504, a second double-shaft cylinder 505, a cylinder jacking column connecting block 506, a jacking column 507, a root removal shaft base 508, a root removal shaft 509, a limiting angle aluminum 510, a limiting block 511, a limiting block base 512, and a root collecting box 513. The flow bar 503 is mounted on both sides of the rack 501 through the flow bar mounting plate 502. The limiting block base 512 is fixedly installed on the outer side of the flow bar 503 on both sides of the rack 501. The limiting block 511 is rotatably installed on the limiting block base 512. The upwardly jacked cultivation plate for removing lettuce can move upward. The limiting block 511 is passively opened at a certain angle. As the jacking stroke increases, the limiting block 511 no longer contacts the cultivation plate. Under the action of gravity, it falls to the horizontal state in contact with the limiting block base 512. After the jacking stroke is completed, the second double-shaft cylinder 505 returns to the original position. The cultivation plate falls a distance and contacts the limiting block 511, so it no longer moves downward. Therefore, the multi-layer stacking of the cultivation plate is realized. The second double-shaft cylinder 505 is fixedly installed on the inner side of the flow bar 503 on both sides of the rack 501 through the cylinder mounting block 504. The output shaft of the second double-shaft cylinder 505 is fixedly connected with the jacking column 507. The top of the jacking column is a circular table groove structure, which realizes precise fitting with the cultivation plate. The root collecting box 513 is placed below the rack 501 between the second double-shaft cylinders 505. The root removal shaft base 508 is fixedly installed on the rack 501. A plurality of root removal shafts 509 are installed on the lower surface of the root removal shaft base 508. The root removal shaft 509 is a light shaft structure and is fixedly connected to the root removal shaft base 508 by bolts. The position of the root removal shaft 509 on the root removal shaft base 508 corresponds to the opening of the cultivation plate. The diameter of the root removal shaft 509 is smaller than that of the opening of the cultivation plate. The limiting angle aluminum 510 is installed on the support of the root removal shaft base 508 and can only move in the vertical direction. It is used to limit the cultivation plate for removing lettuce and make the cultivation plate for removing lettuce arranged in order. The root removal shaft 509 is arranged between the jacking column 507. The cultivation plate for removing lettuce is placed on the jacking column 507. During the jacking process of the second double-shaft cylinder 505, the root removal shaft 509 removes the residual sponge block in the cultivation hole from the opening at the bottom of the cultivation plate and the sponge block falls into the root collecting box 513.

[0052] As shown, Figure 11 The lettuce conveying line 6 comprises a conveying line rack 601, a second chain transmission 602, a second conveying motor 603, a driving roller 604, a belt 605, a driven roller 606, and a second tensioning device 607. The belt 605 is fixedly installed above the cultivation plate precise positioning conveying mechanism 2 through the conveying line rack 601. The second conveying motor 603 is connected with the driving roller 604 through the second chain transmission 602. The driving roller 604 and the driven roller 606 are installed at both ends of the belt 605, respectively. The second tensioning device 607 is arranged on the side of the belt 605 close to the driven roller 606 to ensure the normal work of the belt conveying line.

[0053] The working process of the present application is as follows:

[0054] The cultivation plate carrying the water culture lettuce is manually fed into the inlet end of the cultivation plate conveying chain 1. The cultivation plate moves under the action of its own gravity with the rotation of the roller chain 105. The roots of the adjacent water culture lettuce entangled together are separated in the moving direction of the cultivation plate when passing through the first root separator 109 and the second root separator 110 during the conveying process. The cultivation plate is conveyed to the outlet end of the cultivation plate conveying chain 1, and the cultivation plate precise positioning conveying mechanism 2 starts to work. The lifting cylinder 204 drives the positioning column 206 to contact the cultivation plate for precise positioning. After positioning, the suction cup 208 works to achieve adsorption. Subsequently, the linear module 201 starts to convey the cultivation plate carrying the water culture lettuce to the working area of the multi-plant harvesting end effector 4. The multi-plant harvesting end effector starts to work. First, the male circular rack 4041 and the female circular rack 40412 of the second clamping finger 404 move towards each other under the respective driving and transmission mechanism. When the convex circular table end of the male circular rack 4041 is in contact with the circular table groove end of the female circular rack 40412, the motor stops rotating, and the male circular rack 4041 and the female circular rack 40412 are combined into a circular rack. The first double-shaft air cylinder 40211 starts to work, pushing the P-shaped sliding block 4021 to make the clamping shaft 4023 and the cutting shaft 4032 move along the clamping sliding groove 40121 and the cutting sliding groove 40122, respectively. The clamping shaft 4023 and the male circular rack 4041 and the female circular rack 40412 complete the lateral clamping of the water culture lettuce, exposing the rhizome in the sponge block, and the blade 4033 on the cutting shaft 4032 completes the cutting of the rhizome. After cutting is completed, the multi-plant harvesting end effector 4 moves away from the cultivation plate conveying line 1 by a certain distance horizontally under the action of the cross slide mechanical arm 3, then lifts vertically upward by a certain distance, and then moves close to the lettuce conveying line 6 by a certain distance horizontally. The prong 405 starts to work. The prong shaft 4056 pushes the upper half of the lateral water culture lettuce under the action of the rodless air cylinder 4057, so that the water culture lettuce rotates along the male circular rack 4041 and the female circular rack 40412 and overturns to the lettuce conveying line 6, showing an inverted state. The multi-plant harvesting end effector 4 returns to the original position to repeat the operation. Before repeating the operation, the cultivation plate moves a plant distance under the action of the cultivation plate precise positioning conveying mechanism 2. After the water culture lettuce on one cultivation plate is completely harvested, the cultivation plate precise positioning conveying mechanism 2 conveys the cultivation plate to the cultivation plate root removal stacking mechanism 5. After reaching the designated position, the cultivation plate returns to the outlet end of the cultivation plate conveying line 1 for repeated operation. The second double-shaft air cylinder 505 starts to work, making the cultivation plate move vertically upward through the lifting column 506. During the movement, the residual sponge block in the cultivation plate hole is in contact with the root removal shaft 509 and falls into the root collection box 513.In addition, the cultivation plate contacts the limiting block 511 during vertical upward movement, the limiting block 511 is passively opened at an angle, and with the increase of the jacking stroke, the limiting block 511 is no longer in contact with the cultivation plate, and under the action of gravity, it falls to the horizontal state in contact with the limiting block base 512, and after the movement stroke of the air cylinder is completed, the second double-shaft air cylinder 505 returns, and the cultivation plate falls a distance and then contacts the limiting block 511, and no longer moves downward, thereby achieving multi-layer stacking of the cultivation plate.

[0055] Finally, it should be noted that the above examples and descriptions are only used to illustrate the technical solutions of the present application and are not limiting. Those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions disclosed by the present application, and they should be covered in the protection scope of the claims of the present application.

Claims

1. A push-cut type hydroponic lettuce multi-plant harvesting device, characterized in that, The system includes a cultivation board conveyor line (1), a cultivation board precision positioning conveyor mechanism (2), a cross slide robotic arm (3), a multi-plant harvesting end actuator (4), a cultivation board root removal and stacking mechanism (5), and a lettuce conveyor line (6). The cultivation board conveyor line (1) is equipped with the cultivation board precision positioning conveyor mechanism (2), the cross slide robotic arm (3), and the cultivation board root removal and stacking mechanism (5) in sequence along the transmission direction. The cultivation board conveyor line (1) is equipped with a multi-plant harvesting end actuator (4) at the cross slide robotic arm (3), and the lettuce conveyor line (6) is installed above the cultivation board precision positioning conveyor mechanism (2). The multi-plant harvesting end effector (4) includes an end effector frame (401), double track plates (4012), a first clamping finger (402), a P-type chute block (4021), a knife finger (403), a second clamping finger (404), and a shifting finger (405); corresponding double track plates (4012) are installed on both sides of the end effector frame (401), and a drive rod assembly is fixedly installed in the end effector frame (401) between the two double track plates (4012). The forward movement direction of the drive rod assembly is opposite to the transmission direction of the cultivation board conveyor line (1). The two sides of the drive rod assembly are fixedly connected to the corresponding P-type chute block (4021). Each P-type chute block (4021) is fixedly connected to the corresponding P-type chute block (4021). 1) It is slidably connected to the corresponding double track plate (4012). The first clamping finger (402) and the knife finger (403) are arranged vertically at intervals. The forward movement direction of the lever finger (405) is the same as the forward movement direction of the drive rod assembly. In the initial state, the first clamping finger (402) and the knife finger (403) are set on the side of the double track plate (4012) near the root stacking mechanism (5) of the cultivation board. The second clamping finger (404) is connected to the side of the double track plate (4012) near the lettuce conveyor line (6). The lever finger (405) is installed in the end effector frame (401) above the first clamping finger (402). The lettuce cultivation board is placed between the first clamping finger (402) and the second clamping finger (404). Each double track plate (4012) has a clamping groove (40121) and a cutting groove (40122). Each P-type groove block (4021) has a driving groove. The two ends of the first clamping finger (402) and the cutting finger (403) are connected to the outer side of the corresponding double track plate (4012). The middle part of the first clamping finger (402) passes through the clamping groove (40121) of the first double track plate, the driving groove of the first P-type groove block, the driving groove of the second P-type groove block, and the clamping groove (40121) of the second double track plate in sequence. The cutting finger (402) passes through the clamping groove (40121) of the first double track plate, the driving groove of the first P-type groove block, the driving groove of the second P-type groove block, and the clamping groove (40121) of the second double track plate in sequence. 03) passes sequentially through the cutting groove (40122) of the first double track plate, the driving groove of the first P-type slide block, the driving groove of the second P-type slide block, and the cutting groove (40122) of the second double track plate; wherein, the clamping groove (40121) and the cutting groove (40122) are arranged vertically at intervals, along the direction of movement close to the second clamping finger (404), the clamping groove (40121) is a track that is first inclined downward and then inclined upward, the inflection point of the track is recorded as the clamping inflection point, and the end of the clamping groove (40121) is close to the track end of the second clamping finger (404). The point is higher than the clamping groove (40121) and the track end point away from the second clamping finger (404); the cutting groove (40122) is a track that first slopes downward at a small angle and then slopes downward at a larger angle, and the inflection point of the track is recorded as the cutting inflection point; the driving groove is an open P-shaped groove (402101) with the opening direction away from the second clamping finger (404), specifically including two horizontal tracks arranged vertically and two vertical tracks arranged horizontally, the top of the first vertical track is connected to the end of the upper horizontal track near the second clamping finger (404), and the bottom of the first vertical track is connected to the lower horizontal track. The horizontal rails are connected, and the top of the second vertical rail is connected to the end of the lower horizontal rail away from the second clamping finger (404). The height of the clamping inflection point is not lower than the bottom height of the first vertical rail. The height of the upper horizontal rail is the same as the height of the end point of the clamping groove (40121) near the second clamping finger (404). The height of the lower horizontal rail is the same as the height of the end point of the cutting groove (40122) away from the second clamping finger (404). The bottom height of the second vertical rail is the same as the height of the end point of the cutting groove (40122) near the second clamping finger (404).

2. The push-cut type hydroponic lettuce multi-plant harvesting device according to claim 1, characterized in that, The cultivation board conveyor line (1) includes a mounting frame, a first chain drive (101), a first conveyor motor (102), a drive shaft (103), a drive sprocket (104), roller chains (105), chain supports (106), a first tensioning device (107), and idler wheels (108). Corresponding roller chains (105) are installed on both sides of the mounting frame, and a chain support (106) is provided at each roller chain (105). Both ends of each roller chain (105)... A drive sprocket (104) and an idler wheel (108) are installed respectively. A first tensioning device (107) is fixedly installed inside the roller chain (105) at the idler wheel (108). The drive sprockets (104) of the roller chains (105) on both sides of the mounting frame are connected through a drive shaft (103). The drive shaft (103) is connected to the first conveyor motor (102) through a first chain drive (101). A splitter is also installed between the two sides of the mounting frame in the middle of the roller chain (105).

3. The push-cut type hydroponic lettuce multi-plant harvesting device according to claim 1, characterized in that, The cultivation board precision positioning and conveying mechanism (2) includes a linear module (201), a cylinder slider mounting plate (202), a cylindrical nut (203), a lifting cylinder (204), a cylinder positioning column connecting plate (205), a positioning column (206), and a suction cup (208). The linear module (201) is installed at the bottom middle of the cultivation board conveying line (1). The movement direction of the linear module (201) is parallel to the transmission direction. The lifting cylinder (204) is fixedly installed on the linear module (201) through the cylinder slider mounting plate (202). The output shaft of the lifting cylinder (204) is fixedly connected to the cylinder positioning column connecting plate (205). The positioning column (206) is fixedly installed on the cylinder positioning column connecting plate (205). The suction cup (208) is installed inside the positioning column (206).

4. The push-cut type hydroponic lettuce multi-plant harvesting device according to claim 1, characterized in that, The cross slide mechanical arm (3) includes a horizontal linear module (301), a slider module connecting block (302), and a vertical linear module (303). The movement direction of the two horizontal linear modules (301) is parallel to the transmission direction. The two horizontal linear modules (301) are respectively fixedly installed on the mounting frame outside the cultivation board conveyor line (1). Each vertical linear module (303) is installed on the corresponding horizontal linear module (301) through the slider module connecting block (302). The multi-plant harvesting end actuator (4) is installed between the two vertical linear modules (303).

5. A push-cut type hydroponic lettuce multi-plant harvesting device according to claim 1, characterized in that, The first finger clamp (402) includes a first bearing (4022), a first linear guide rail (4024), a first linear slider (4025), a finger clamping shaft (4023), a finger clamping shaft fixing clip (4026), a second linear slider (4027), a second linear guide rail (4028), and a guide rail slider connecting block (4029). The middle part of the finger clamping shaft (4023) passes through the clamping groove (40121) of the first double track plate, the driving groove of the first P-type sliding block, the driving groove of the second P-type sliding block, and the clamping groove (40121) of the second double track plate in sequence. The finger clamping shaft (4023) is connected to the first bearing (4022) and... A first linear guide rail (4024) is fixedly installed on the outer side of each double track plate (4012) connected to a corresponding P-type slide block (4021). A first linear slider (4025) is slidably installed in the first linear guide rail (4024). A second linear guide rail (4028) is connected to the first linear slider (4025) through a guide rail slider connecting block (4029). A second linear slider (4027) is slidably installed in the second linear guide rail (4028). A finger shaft fixing clip (4026) is fixedly installed in the second linear slider (4027). The finger shaft fixing clip (4026) is connected to one end of the finger shaft (4023).

6. A push-cut type hydroponic lettuce multi-plant harvesting device according to claim 1, characterized in that, The cutting finger (403) includes a second bearing (4031), a cutting finger shaft (4032), a cutting blade (4033), a cutting finger shaft fixing clamp (4034), a guide rail slider connecting block (4035), a fourth linear slider (4036), a fifth linear slider (4037), and a fourth linear guide rail (4038). The middle part of the cutting finger shaft (4032) passes through the cutting groove (40122) of the first double track plate, the driving groove of the first P-type slide block, the driving groove of the second P-type slide block, and the cutting groove (40122) of the second double track plate in sequence. The cutting finger shaft (4032) is connected to the corresponding P-type slide block (4021) through the second bearing (4031). The middle part of the blade shaft (4032) is also fixedly installed with multiple blades (4033) facing the lettuce root. A fifth linear slide rail is fixedly installed on the outer side of each double track plate (4012). A fourth linear slider (4036) is slidably installed in the fifth linear slide rail. The fourth linear guide rail (4038) is connected to the fourth linear slider (4036) through the guide rail slider connecting block (4035). The fifth linear slider (4037) is slidably installed in the fourth linear guide rail (4038). A blade shaft fixing clip (4034) is fixedly installed in the fifth linear slider (4037). The blade shaft fixing clip (4034) is connected to one end of the blade shaft (4032).

7. A push-cut type hydroponic lettuce multi-plant harvesting device according to claim 1, characterized in that, The second clamping finger (404) includes a male round rack (4041), a linear bearing (4042), a linear bearing mounting plate (4043), a horizontal bearing housing (4044), a bearing housing mounting plate (4045), a gear (4046), a motor mounting plate (40410), a motor (40411), and a female round rack (40412). The two linear bearing mounting plates (4043) are respectively fixedly installed on both sides of the end effector frame (401). A linear bearing (4042) is installed in each linear bearing mounting plate (4043) through a horizontal bearing housing (4044). A horizontally placed male round rack (4041) or female round rack is arranged in the linear bearing (4042). A linear bearing (40412) is used, in which a male round rack (4041) is placed in one side and a female round rack (40412) is placed in the other side. A motor mounting plate (40410) is fixedly installed on a horizontal bearing housing (4044). A motor (40411) is fixedly installed on the motor mounting plate (40410). The output shaft of the motor (40411) is coaxially connected to the gear (4046). The gear (4046) meshes with the corresponding male round rack (4041) / female round rack (40412) to form a gear rack pair. The gear rack pairs on both sides move closer or further away from each other to realize the formation and disappearance of the second pinch finger (404).

8. A push-cut type hydroponic lettuce multi-plant harvesting device according to claim 1, characterized in that, The shift finger (405) includes a parallel optical axis fixing clamp (4054), an optical axis (4055), a shift finger shaft (4056), a rodless cylinder (4057), a cylinder connecting block (4058), and a vertical optical axis fixing seat (4059). The two ends of the optical axis (4055) are slidably connected to the double track plates (4012) on both sides. The shift finger shaft (4056) is fixedly installed in the optical axis (4055) through the parallel optical axis fixing clamp (4054). In the initial state, the shift finger shaft (4056) is set above the first clamp finger (402). The rodless cylinder (4057) is fixedly installed on the end effector frame (401). The rodless cylinder (4057) is connected to the middle part of the optical axis (4055) through the cylinder connecting block (4058) and the vertical optical axis fixing seat (4059).

9. A push-cut type hydroponic lettuce multi-plant harvesting device according to claim 1, characterized in that, The root removal and stacking mechanism (5) of the cultivation board includes a frame (501), flow strips (503), cylinder mounting block (504), a second dual-axis cylinder (505), a cylinder lifting column connecting block (506), a lifting column (507), a root removal shaft base (508), a root removal shaft (509), a limiting block (511), a limiting block base (512), and a root collection box (513); flow strips (503) are installed on both sides of the frame (501), and limiting block bases (512) are fixedly installed on both sides of the frame (501) near the outer side of the flow strips (503), and limiting blocks (512) that can rotate outward are installed on the limiting block bases (512). 11) A second dual-shaft cylinder (505) is fixedly installed on both sides of the frame (501) near the inner side of the flow strip (503) via a cylinder mounting block (504). The output shaft of the second dual-shaft cylinder (505) is fixedly connected to the lifting column (507). A root collection box (513) is placed under the frame (501) between the second dual-shaft cylinders (505). A root removal shaft base (508) is fixedly installed on the frame (501). Multiple root removal shafts (509) are installed on the lower surface of the root removal shaft base (508). The root removal shafts (509) are spaced apart from the lifting column (507). The cultivation board for removing lettuce is placed on the lifting column (507).

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