Push-cut hydroponic lettuce plant harvesting end effector

Abstract

The application discloses a push-cut type hydroponic lettuce multi-plant harvesting end effector. The application provides a new mechanical harvesting structure, wherein under the joint action of a clamping sliding groove and a P-shaped sliding groove, a movable finger pushes a hydroponic lettuce petiole to expose rhizomes in a sponge block in a cultivation plate hole, and a fixed finger is used for clamping on both sides, and a knife finger is used for cutting the rhizomes under the joint action of a cutting sliding groove and the P-shaped sliding groove, so that the hydroponic lettuce can be cut and harvested in situ.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural machinery, and particularly relates to a push-cut type hydroponic lettuce single-plant harvesting end effector. BACKGROUND

[0002] Lettuce, also known as leaf lettuce, is a leafy vegetable widely consumed in daily life and a representative vegetable widely planted in a plant factory. The planting method of the plant factory is mainly hydroponics, that is, the plant roots grow in the nutrient solution through sponge blocks and cultivation boards. The production process of the hydroponic lettuce of the plant factory mainly includes sowing, germination, transplanting, growth and harvesting, among which the sowing and transplanting links involving manual operation have realized machine instead of human, while the harvesting link is mainly manual. In addition, the manual harvesting link is time-consuming and labor-intensive, which seriously hinders the sustainable development of the hydroponic lettuce industry of the plant factory. Patent CN113317035B proposes a hydroponic lettuce suction and cutting stem harvesting device, the core components of which are a suction and pulling mechanism and a shearing mechanism. The suction and pulling mechanism realizes the suction and pulling of the hydroponic lettuce, and the shearing mechanism realizes the shearing of the hydroponic lettuce root. However, the plant factory adopts the nutrient liquid film technology for three-dimensional multi-layer cultivation, resulting in a trumpet-shaped root system of the hydroponic lettuce. Therefore, a larger pulling force is needed to overcome the greater resistance in the process of "pulling up" the hydroponic lettuce, which easily causes damage to the leaves. At the same time, the root system of the hydroponic lettuce is hidden in the sponge block, and the sponge block is hidden in the cultivation board hole. If the hydroponic lettuce is not adjusted in posture, the cutting harvesting operation cannot be directly performed. Although the "pulling up" action of the hydroponic lettuce can expose the sponge block in the air, it cannot expose the root in the air, and cannot provide space for the cutting operation. SUMMARY

[0003] In view of the above technical problems, the present application aims to provide a push-cut type hydroponic lettuce single-plant harvesting end effector, which changes the harvesting strategy, that is, by pushing the lettuce petiole, the root is exposed from the sponge block in the cultivation board hole, and then the exposed root is cut, realizing the in-situ cutting stem harvesting of the hydroponic lettuce, eliminating the risk of leaf damage caused by large pulling force, and having the characteristics of low power consumption and low damage.

[0004] In order to achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0005] The application comprises a supporting mechanism, a driving mechanism, a clamping mechanism, a fixed finger and a cutting mechanism; the driving mechanism, the clamping mechanism, the fixed finger and the cutting mechanism are installed in the supporting mechanism, the clamping mechanism and the cutting mechanism are arranged in an upper and lower interval, the control end of the clamping mechanism and the cutting mechanism is connected with the supporting mechanism, the execution end of the clamping mechanism and the cutting mechanism is arranged outside the supporting mechanism after passing through the driving mechanism, the control end of the fixed finger is fixedly installed in the supporting mechanism, and the execution end of the fixed finger is also arranged outside the supporting mechanism after passing through the supporting mechanism; in the initial state, the clamping mechanism and the cutting mechanism are located on one side of the supporting mechanism, and the fixed finger is located on the other side of the supporting mechanism; the hydroponic lettuce board is placed outside the supporting mechanism between the clamping mechanism and the fixed finger, the driving mechanism drives the clamping mechanism and the cutting mechanism to move close to the fixed finger, the clamping mechanism clamps the lettuce with the fixed finger, and then the cutting mechanism cuts the rhizome of the lettuce, thereby completing the harvesting action.

[0006] The supporting mechanism comprises two double-track plates, the driving mechanism comprises a driving rod and a P-shaped sliding block, the P-shaped sliding block is installed in the driving rod, the driving rod is installed between the two double-track plates, the two double-track plates are symmetrically arranged, the clamping sliding groove and the cutting sliding groove are formed in the two double-track plates, the driving sliding groove is formed in the P-shaped sliding block, the execution end of the clamping mechanism is sequentially arranged in the clamping sliding groove of the first double-track plate, the driving sliding groove of the P-shaped sliding block and the clamping sliding groove of the second double-track plate, and the execution end of the cutting mechanism is sequentially arranged in the cutting sliding groove of the first double-track plate, the driving sliding groove of the P-shaped sliding block and the cutting sliding groove of the second double-track plate.

[0007] The clamping sliding groove and the cutting sliding groove are arranged in an upper and lower interval, in the direction of moving close to the fixed finger, the clamping sliding groove 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, and the track end point of the clamping sliding groove close to the fixed finger is higher than the track end point of the clamping sliding groove away from the fixed finger; the cutting sliding groove is a track that is first inclined downward at a small angle and then inclined downward at a large angle, and the inflection point of the track is recorded as a cutting inflection point; the driving sliding groove is a P-shaped sliding groove with an opening shape, the opening direction is away from the fixed finger, specifically comprising 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 fixed finger, the bottom of the first vertical track is in communication with the lower horizontal track, and the top of the second vertical track is in communication with the end of the lower horizontal track away from the fixed finger; 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 close to the fixed finger, the height of the lower horizontal track is the same as the track end point height of the cutting sliding groove away from the fixed finger, and the bottom height of the second vertical track is the same as the track end point height of the cutting sliding groove close to the fixed finger.

[0008] The support mechanism further comprises a motor mounting plate and a horizontal bearing seat mounting plate; the motor mounting plate and the horizontal bearing seat mounting plate are further mounted between the two double-track plates, the two ends of the driving rod are respectively mounted in the motor mounting plate and the horizontal bearing seat mounting plate, and the motor mounting plate is provided with a driving mechanism.

[0009] The inner side wall of the two double-track plates is further provided with a linear guide rail, a linear guide rail slider is mounted in the linear guide rail, and the linear guide rail slider is fixedly connected with the P-shaped sliding groove block.

[0010] The clamping mechanism comprises a movable finger and a movable finger anti-rotation mechanism; the movable finger anti-rotation mechanism is mounted at the outer side of the double-track plate away from the hydroponic lettuce plate, the control end of the movable finger is connected with the movable finger anti-rotation mechanism, and the execution end of the movable finger is sequentially arranged outside the double-track plate close to the hydroponic lettuce plate through the clamping sliding groove of the first double-track plate, the driving sliding groove of the P-shaped sliding groove block and the clamping sliding groove of the second double-track plate.

[0011] The movable finger comprises a movable finger shaft, a first bearing, a first shaft retaining ring, a first flange bearing and a first sponge sleeve; the control end of the movable finger shaft is connected with the movable finger anti-rotation mechanism, the execution end of the movable finger shaft is sequentially arranged outside the double-track plate close to the hydroponic lettuce plate through the clamping sliding groove of the first double-track plate, the driving sliding groove of the P-shaped sliding groove block and the clamping sliding groove of the second double-track plate, wherein the movable finger shaft is connected with the P-shaped sliding groove block through the first flange bearing, the movable finger shaft is connected with the first bearing and the first shaft retaining ring, and the part of the movable finger shaft extending out of the double-track plate is provided with the first sponge sleeve.

[0012] The movable finger anti-rotation mechanism comprises a second linear guide rail, a second linear guide rail slider, a first linear guide rail mounting plate, a third linear guide rail slider, a third linear guide rail and a movable finger shaft fixing block; the second linear guide rail is fixedly mounted at the outer side of the double-track plate away from the hydroponic lettuce plate, the second linear guide rail slider is mounted in the second linear guide rail, the third linear guide rail is mounted in the second linear guide rail slider through the first linear guide rail mounting plate, the third linear guide rail is mounted with the third linear guide rail slider, the movable finger shaft fixing block is fixedly connected with the third linear guide rail slider, and the control end of the movable finger is connected with the movable finger shaft fixing block.

[0013] The cutting mechanism comprises a knife finger and a knife finger anti-rotation mechanism; the knife finger anti-rotation mechanism is mounted at the outer side of the double-track plate away from the hydroponic lettuce plate, the control end of the knife finger is connected with the knife finger anti-rotation mechanism, and the execution end of the movable finger is sequentially arranged outside the double-track plate close to the hydroponic lettuce plate through the clamping sliding groove of the first double-track plate, the driving sliding groove of the P-shaped sliding groove block and the clamping sliding groove of the second double-track plate.

[0014] The knife finger comprises a blade, a knife finger shaft, a second bearing, a second shaft blocking ring and a second flange bearing; the control end of the knife finger shaft is connected with the knife finger anti-rotation mechanism, the execution end of the knife finger shaft passes through the clamping sliding groove of the first double track plate, the driving sliding groove of the P-shaped sliding block and the clamping sliding groove of the second double track plate in sequence and is arranged outside the double track plate close to the hydroponic lettuce plate, wherein the knife finger shaft is connected with the P-shaped sliding block through the second flange bearing, the knife finger shaft is connected with the second bearing and the second shaft blocking ring, and the blade is fixedly installed at the end of the execution end of the knife finger shaft.

[0015] The knife finger anti-rotation mechanism comprises a fourth linear guide rail sliding block, a second linear guide rail mounting plate, a fourth linear guide rail, a fifth linear guide rail sliding block and a knife finger shaft fixing block; the sixth linear guide rail is fixedly installed at the outer side of the double track plate away from the hydroponic lettuce plate, the fourth linear guide rail sliding block is installed in the sixth linear guide rail, the fourth linear guide rail is installed in the fourth linear guide rail sliding block through the second linear guide rail mounting plate, the fifth linear guide rail sliding block is installed in the fourth linear guide rail, the knife finger shaft fixing block is fixedly connected with the fifth linear guide rail sliding block, and the knife finger shaft fixing block is connected with the control end of the knife finger.

[0016] The fixed finger comprises a fixed finger shaft, an optical axis fixing seat and a second sponge sleeve; the control end of the fixed finger shaft is fixedly connected with the double track plate through the optical axis fixing seat, the execution end of the fixed finger shaft is arranged outside the double track plate close to the hydroponic lettuce plate after passing through the double track plate, and the part of the execution end of the fixed finger shaft that extends out of the double track plate is sleeved with the second sponge sleeve.

[0017] Compared with the prior art, the present application has the following beneficial effects:

[0018] 1. The present application proposes a new mechanical harvesting strategy, which is different from clamping the lettuce from the top down before, but clamping the rigid petiole of the lettuce from both sides, which can effectively reduce the damage of the leaf hydroponic lettuce and has the advantages of low power consumption and low damage.

[0019] 2. The driving mechanism 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 block, the clamping sliding groove and the cutting sliding groove, the two actions of clamping and cutting stem are sequentially executed by using a single power source, the action control strategy is simplified, and the arrangement of the hardware of the driving mechanism is reduced.

[0020] 3. The present application adopts motor driving, the speed of the motor can be adjusted, the execution speed of different actions is controlled through speed adjustment, and the best working state is achieved.

[0021] 4. The moving finger shaft and the fixed finger shaft designed in the present application are each attached with a ring of sponge with a certain thickness, which can realize adaptive and flexible contact and reduce damage in the clamping process. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1is the overall structure schematic diagram of the push-cut type hydroponic lettuce single plant harvesting end effector of the present application;

[0023] Figure 2 is the structure schematic diagram of the supporting mechanism;

[0024] Figure 3 is the front view of the double track plate;

[0025] Figure 4 is the structure schematic diagram of the driving mechanism;

[0026] Figure 5 is the front view of the P-shaped sliding groove block;

[0027] Figure 6 is the structure schematic diagram of the clamping mechanism and the cutting mechanism;

[0028] Figure 7 is the structure schematic diagram of the moving finger and the knife finger;

[0029] Figure 8 is the end effector action process schematic diagram.

[0030] In the figure: 1, support mechanism, 101, double track plate, 1011, clamping sliding groove, 1012, cutting sliding groove, 102, cylindrical nut, 103, motor mounting plate, 104, horizontal bearing seat mounting plate, 105, profile, 106, straight connector, 107, turning angle code, 108, mechanical arm mounting plate, 2, driving mechanism, 201, motor, 202, shaft coupling, 203, screw rod, 204, screw rod nut, 205, screw rod nut mounting seat, 206, screw rod nut mounting seat fixing plate, 207, horizontal bearing seat, 208, linear guide rail, 209, linear guide rail sliding block, 210, P-shaped sliding groove block, 2101, P-shaped sliding groove, 3, clamping mechanism, 301, moving finger, 3011, moving finger shaft, 3012, first bearing, 3013, first shaft retaining ring, 3014, first flange bearing, 3015, first sponge sleeve, 302, moving finger anti-rotation mechanism, 3021, second linear guide rail, 3022, second linear guide rail sliding block, 3023, first linear guide rail mounting plate, 3024, third linear guide rail sliding block, 3025, third linear guide rail, 3026, moving finger shaft fixing block, 303, fixed finger, 3031, fixed finger shaft, 3032, optical axis fixing seat, 3033, second sponge sleeve, 4, cutting mechanism, 401, knife finger, 4011, blade, 4012, knife finger shaft, 4013, second bearing, 4014, second shaft retaining ring, 4015, second flange bearing, 402, knife finger anti-rotation mechanism, 4021, fourth linear guide rail sliding block, 4022, second linear guide rail mounting plate, 4023, fourth linear guide rail, 4024, fifth linear guide rail sliding block, 4025, knife finger shaft fixing block, 5, water-cultivated lettuce, 6, sponge block, 7, cultivation plate. DETAILED DESCRIPTION

[0031] The application will be further described below in conjunction with the drawings and examples.

[0032] As Figure 1As shown, the present invention includes a support mechanism 1, a drive mechanism 2, a clamping mechanism 3, a fixed finger 303, and a cutting mechanism 4. The drive mechanism 2, clamping mechanism 3, fixed finger 303, and cutting mechanism 4 are installed in the support mechanism 1. The clamping mechanism 3 and cutting mechanism 4 are arranged vertically at intervals. The control ends of both the clamping mechanism 3 and cutting mechanism 4 are connected to the support mechanism 1. The execution ends of the clamping mechanism 3 and cutting mechanism 4 pass through the drive mechanism 2 and are located outside the support mechanism 1. The control end of the fixed finger 303 is fixedly installed in the support mechanism 1, and the execution end of the fixed finger 303 also passes through the support mechanism 1 and is located outside the support mechanism 1. The support mechanism 3 and the cutting mechanism 4 are initially positioned outside the support mechanism 1, with the fixed finger 303 on the other side. The fixed finger 303 is always positioned below the moving finger 301 of the gripping mechanism 3. The hydroponic lettuce board is placed outside the support mechanism 1 between the gripping mechanism 3 and the fixed finger 303. The driving mechanism 2 drives the gripping mechanism 3 and the cutting mechanism 4 to move closer to the fixed finger 303. After the moving finger 301 of the gripping mechanism 3 cooperates with the fixed finger 303 to grip the lettuce, the cutting finger 401 of the cutting mechanism 4 cuts the root of the lettuce, completing the harvesting action. Figure 8 As shown in Figure a, the hydroponic lettuce board includes hydroponic lettuce 5, sponge block 6 and cultivation board 7; the cultivation board 7 contains sponge block 6, and a single hydroponic lettuce 5 is planted in the sponge block 6.

[0033] Support mechanism 1 includes two double track plates 101 connected by cylindrical nuts 102. Drive mechanism 2 includes a drive rod and a P-shaped slide block 210. The P-shaped slide block 210 is installed in the drive rod, which is installed between the two double track plates 101. The two double track plates 101 are symmetrically arranged, parallel, and spaced apart. The axis of the drive rod is parallel to the double track plates 101. Each double track plate 101 has a clamping slide groove 1011 and a cutting slide groove 1012. The P-shaped slide block 210 has a driving slide groove. The actuating end of the moving finger 301 of clamping mechanism 3 passes sequentially through the clamping slide groove 1011 of the first double track plate, the driving slide groove of the P-shaped slide block 210, and the clamping slide groove 1012 of the second double track plate. In 011, the actuating end of the cutting finger 401 of the cutting mechanism 4 is sequentially inserted into the cutting groove 1012 of the first double track plate, the driving groove of the P-type groove block 210, and the cutting groove 1012 of the second double track plate; wherein, the clamping groove 1011 and the cutting groove 1012 are arranged vertically at intervals and are not connected, the horizontal distance between the clamping groove 1011 and the cutting groove 1012 is the same, the track end point of the clamping groove 1011 away from the fixed finger 303 and the track end point of the cutting groove 1012 away from the fixed finger 303 are located in the same vertical direction, and the track end point of the clamping groove 1011 near the fixed finger 303 and the track end point of the cutting groove 1012 near the fixed finger 303 are located in the same vertical direction, along the direction of movement near the fixed finger 303, such as Figure 3As shown, the clamping slide 1011 is a track first obliquely downward and then obliquely upward, the inflection point of the track is marked as the clamping inflection point, the horizontal distance between the clamping inflection point and the track endpoint of the clamping slide 1011 close to the fixed finger 303 is less than the horizontal distance between the clamping inflection point and the track endpoint of the clamping slide 1011 away from the fixed finger 303, and the track endpoint of the clamping slide 1011 close to the fixed finger 303 is higher than the track endpoint of the clamping slide 1011 away from the fixed finger 303; the cutting slide 1012 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 marked as the cutting inflection point, the horizontal distance between the cutting inflection point and the two track endpoints of the cutting slide 1012 is equal, and the track endpoint of the cutting slide 1012 close to the fixed finger 303 is lower than the track endpoint of the cutting slide 1012 away from the fixed finger 303;

[0034] As shown in the figure, Figure 5 As shown, the driving slide is an open P-shaped slide 2101, the opening direction is away from the fixed finger 303, 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 fixed finger 303, the moving finger 301 of the clamping mechanism 3 is located in the first vertical track and the upper horizontal track in sequence, the bottom of the first vertical track is in communication with the lower horizontal track, specifically the bottom of the first vertical track is in communication with the end of the lower horizontal track close to the fixed finger 303, or the bottom of the first vertical track is in communication with the middle of 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 fixed finger 303; the knife finger 401 of the cutting mechanism 4 is located in the lower horizontal track and the second vertical track in sequence. The horizontal distance of the upper horizontal track and the horizontal distance of the lower horizontal track are equal, and are half of the horizontal distance of the cutting slide, the height of the clamping inflection point is not lower than the bottom height of the first vertical track, the height of the track endpoint of the clamping slide 1011 away from the fixed finger 303 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 track endpoint of the clamping slide 1011 close to the fixed finger 303, the height of the lower horizontal track is the same as the height of the track endpoint of the cutting slide 1012 away from the fixed finger 303, and the bottom height of the second vertical track is the same as the height of the track endpoint of the cutting slide 1012 close to the fixed finger 303.

[0035] As shown in the figure, Figure 2As shown, the support mechanism 1 further comprises a motor mounting plate 103, a profile 105, a one-letter connecting piece 106, a steering angle code 107, a mechanical arm mounting plate 108 and a horizontal bearing seat mounting plate 104; the motor mounting plate 103 and the horizontal bearing seat mounting plate 104 are further installed between the two double-track plates 101, the two ends of the driving rod are respectively installed in the motor mounting plate 103 and the horizontal bearing seat mounting plate 104, and the motor 201 of the driving mechanism 2 is installed on the motor mounting plate 103. The profile 105 is fixedly installed on the double-track plate 101 away from the execution end of the moving finger 301 through the one-letter connecting piece 106 and the steering angle code 107, the mechanical arm mounting plate 108 is fixedly installed on the profile 105 through bolts, and the material of the profile 105 is aluminum. The mechanical arm mounting plate 108 is used for fixing the end of the mechanical arm. The inner side walls of the two double-track plates 101 are further provided with linear guides 208, linear guide sliders 209 are installed in the linear guides 208, and the linear guide sliders 209 are fixedly connected with the P-shaped sliding groove blocks 210.

[0036] As shown in Figure 4 , the driving rod of the driving mechanism 2 is a lead screw 203 and a lead screw nut 204, the lead screw nut 204 is sleeved in the lead screw 203 through a lead screw nut mounting seat 205 and a lead screw nut mounting seat fixed plate 206, the P-shaped sliding groove block 210 is provided with two, the two sides of the lead screw nut 204 are respectively fixedly connected with the corresponding P-shaped sliding groove blocks 210, and the driving mechanism 2 further comprises a motor 201, a shaft coupling 202 and a horizontal bearing seat 207; the motor 201 is fixedly installed on the motor mounting plate 103, the output shaft of the motor 201 is coaxially and fixedly connected with the lead screw 203 through the shaft coupling 202, and the lead screw 203 is installed on the horizontal bearing seat mounting plate 104 through the horizontal bearing seat 207.

[0037] In the initial state, as shown in a of Figure 8 , the moving finger 301 of the clamping mechanism 3 and the knife finger 401 of the cutting mechanism 4 are arranged in the first vertical track of the P-shaped sliding groove in an up-down manner, wherein the knife finger 401 is located in the lower horizontal track directly below the moving finger 301, and can also be located in the lower horizontal track left or right below the moving finger 301, during the movement of the P-shaped sliding groove block 210 close to the fixed finger 303, the moving finger 301 of the clamping mechanism 3 is always in the first vertical track and moves obliquely downward along the clamping sliding groove 1011, the knife finger 401 of the cutting mechanism 4 is located at the track endpoint of the cutting sliding groove 1012 away from the fixed finger 303 and remains stationary, and moves from the track endpoint close to the fixed finger 303 to the track endpoint away from the fixed finger 303 in the P-shaped sliding groove block 210 as shown in b of Figure 8 ; then the moving finger 301 of the clamping mechanism 3 moves obliquely downward and then obliquely upward along the clamping sliding groove 1011 under the action of the first vertical track until it contacts the lettuce plant, and the knife finger 401 of the cutting mechanism 4 moves obliquely downward at a small angle along the cutting sliding groove 1012 under the action of the second vertical track for a distance, as shown in c ofFigure 8 Figure 9c shows that the moving finger 301 of the clamping mechanism 3 moves from the lower part of the first vertical track to the top part, the moving finger 301 of the clamping mechanism 3 cooperates with the fixed finger 303 to clamp the lettuce, and the root stalks hidden in the sponge block are exposed, the knife finger 401 of the cutting mechanism 4 moves along the cutting chute 1012 at a smaller angle to the next point of inflection, as shown in Figure 9d. Figure 8 Figure 9d shows that the moving finger 301 of the clamping mechanism 3 remains stationary and cooperates with the fixed finger 303 to clamp the lettuce, the P-shaped chute block 210 moves from the track end point close to the fixed finger 303 to the track end point away from the fixed finger 303 in the upper horizontal track, the knife finger 401 of the cutting mechanism 4 moves from the top part of the second vertical track to the bottom part of the second vertical track, and at the same time moves along the cutting chute 1012 at a larger angle to the track end point of the cutting chute 1012 close to the fixed finger 303, in the process, the blade on the knife finger 401 gradually approaches the root stalk of the lettuce until cutting, as shown in Figure 9e. Figure 8 Figure 9e shows that the moving finger 301 of the clamping mechanism 3 remains stationary and cooperates with the fixed finger 303 to clamp the lettuce, the P-shaped chute block 210 moves from the track end point close to the fixed finger 303 to the track end point away from the fixed finger 303 in the upper horizontal track, the knife finger 401 of the cutting mechanism 4 moves from the top part of the second vertical track to the bottom part of the second vertical track, and at the same time moves along the cutting chute 1012 at a larger angle to the track end point of the cutting chute 1012 close to the fixed finger 303, in the process, the blade on the knife finger 401 gradually approaches the root stalk of the lettuce until cutting, as shown in Figure 9e.

[0038] As shown in Figures 10a and 10b, the clamping mechanism 3 comprises the moving finger 301 and the moving finger anti-rotation mechanism 302, the moving finger anti-rotation mechanism 302 is installed at the outer side of the double-track plate 101 (i.e. the first double-track plate) away from the hydroponic lettuce plate, the control end of the moving finger 301 is connected to the moving finger anti-rotation mechanism 302, and the execution end of the moving finger 301 is sequentially arranged outside the double-track plate 101 close to the hydroponic lettuce plate after passing through the clamping chute 1011 of the first double-track plate, the driving chute of the P-shaped chute block 210 and the clamping chute 1011 of the second double-track plate. Figure 6 Figure 7 As shown in Figures 10a and 10b, the clamping mechanism 3 comprises the moving finger 301 and the moving finger anti-rotation mechanism 302, the moving finger anti-rotation mechanism 302 is installed at the outer side of the double-track plate 101 (i.e. the first double-track plate) away from the hydroponic lettuce plate, the control end of the moving finger 301 is connected to the moving finger anti-rotation mechanism 302, and the execution end of the moving finger 301 is sequentially arranged outside the double-track plate 101 close to the hydroponic lettuce plate after passing through the clamping chute 1011 of the first double-track plate, the driving chute of the P-shaped chute block 210 and the clamping chute 1011 of the second double-track plate.

[0039] The moving finger 301 comprises a moving finger shaft 3011, a first bearing 3012, a first shaft retaining ring 3013, a first flange bearing 3014 and a first sponge sleeve 3015, the control end of the moving finger shaft 3011 is connected to the moving finger shaft fixing block 3026 of the moving finger anti-rotation mechanism 302, the execution end of the moving finger shaft 3011 is sequentially arranged outside the double-track plate 101 close to the hydroponic lettuce plate after passing through the clamping chute 1011 of the first double-track plate, the driving chute of the P-shaped chute block 210 and the clamping chute 1011 of the second double-track plate, wherein the moving finger shaft 3011 is connected to the P-shaped chute block 210 through the first flange bearing 3014, the moving finger shaft 3011 is connected to the first bearing 3012 and the first shaft retaining ring 3013, and the part of the moving finger shaft 3011 extending out of the double-track plate 101 is provided with the first sponge sleeve 3015 through interference fit.

[0040] ​The movable finger anti-rotation mechanism 302 includes a second linear guide rail 3021, a second linear guide rail slider 3022, a first linear guide rail mounting plate 3023, a third linear guide rail slider 3024, a third linear guide rail 3025, and a movable finger shaft fixing block 3026. The second linear guide rail 3021 is fixedly installed on the outer side of the double track plate 101 away from the hydroponic lettuce board. The second linear guide rail slider 3022 is installed inside the second linear guide rail 3021. The third linear guide rail 3025 is installed in the second linear guide rail slider 3022 through the first linear guide rail mounting plate 3023. The third linear guide rail slider 3024 is installed inside the third linear guide rail 3025. The movable finger shaft fixing block 3026 is fixedly connected to the third linear guide rail slider 3024 and is connected to the control end of the movable finger shaft 3011 of the movable finger 301, thus restricting the rotational freedom of the movable finger shaft 3011.

[0041] The fixed finger 303 includes a fixed finger shaft 3031, an optical axis fixing seat 3032, and a second sponge sleeve 3033. The control end of the fixed finger shaft 3031 is fixedly connected to two double track plates 101 through the optical axis fixing seat 3032. The execution end of the fixed finger shaft 3031 passes through the double track plate 101 and is set outside the double track plate 101 near the hydroponic lettuce board. The execution end of the fixed finger shaft 3031 extends out of the double track plate 101 and is fitted with the second sponge sleeve 3033 by interference fit.

[0042] The cutting mechanism 4 includes a blade 401 and a blade anti-rotation mechanism 402. The blade anti-rotation mechanism 402 is installed on the outer side of the double track plate 101 (i.e., the first double track plate) away from the hydroponic lettuce board. The control end of the blade 401 is connected to the blade anti-rotation mechanism 402. The execution end of the moving finger 301 passes through the clamping groove 1011 of the first double track plate, the driving groove of the P-type groove block 210, and the clamping groove 1011 of the second double track plate in sequence and is set on the outside of the double track plate 101 close to the hydroponic lettuce board.

[0043] The blade 401 includes a blade 4011, a blade shaft 4012, a second bearing 4013, a second shaft retaining ring 4014, and a second flange bearing 4015. The control end of the blade shaft 4012 is connected to the blade shaft fixing block 4025 of the blade anti-rotation mechanism 402. The execution end of the blade shaft 4012 passes through the clamping groove 1011 of the first double track plate, the driving groove of the P-type groove block 210, and the clamping groove 1011 of the second double track plate in sequence and is set outside the double track plate 101 near the hydroponic lettuce board. The blade shaft 4012 is connected to the P-type groove block 210 through the second flange bearing 4015. The blade shaft 4012 is connected to the second shaft retaining ring 4014 through the second bearing 4013. The blade 4011 is fixedly installed at the end of the execution end of the blade shaft 4012.

[0044] The knife finger anti-rotation mechanism 402 comprises a fourth linear guide rail slider 4021, a second linear guide rail mounting plate 4022, a fourth linear guide rail 4023, a fifth linear guide rail slider 4024 and a knife finger shaft fixing block 4025. A sixth linear guide rail is fixedly installed on the outer side of the double-track plate 101 away from the hydroponic lettuce plate. In the embodiment, the sixth linear guide rail is the second linear guide rail 3021. The fourth linear guide rail slider 4021 is installed in the sixth linear guide rail. The fourth linear guide rail 4023 is installed in the fourth linear guide rail slider 4021 through the second linear guide rail mounting plate 4022. The fifth linear guide rail slider 4024 is installed in the fourth linear guide rail 4023. The knife finger shaft fixing block 4025 is fixedly connected with the fifth linear guide rail slider 4024. The knife finger shaft fixing block 4025 is connected with the control end of the knife finger shaft 4012 of the knife finger 401, so as to limit the rotation degree of freedom of the knife finger shaft 4012.

[0045] The working process of the application is as follows:

[0046] The end effector moves horizontally to the working position under the action of the mechanical arm (initial state, Figure 8 a), the motor 201 is started, the P-shaped sliding block 210 starts to move through the screw transmission, the movable finger 301 is driven by the P-shaped sliding block 210 to move obliquely downward along the clamping sliding groove 1011, continuously approaches the petiole of the hydroponic lettuce 5, and the knife finger 401 remains stationary; after the P-shaped sliding block 210 moves a distance (clamping preparation state, Figure 8 b), the P-shaped sliding block 210 starts to drive the movable finger 301 and the knife finger 401 to move along the clamping sliding groove 1011 and the cutting sliding groove 1012 respectively, wherein the knife finger 401 moves obliquely downward at a small angle along the cutting sliding groove 1012, and the movable finger 301 moves obliquely downward first and then moves obliquely upward; after the P-shaped sliding block 210 moves a distance (start of clamping and cutting preparation state, Figure 8 c), the movable finger 301 starts to contact the petiole of the hydroponic lettuce 5, pushes the petiole, and gradually exposes the hydroponic lettuce rhizome hidden in the sponge block 6 in the hole of the cultivation plate 7, and the knife finger 401 still moves obliquely downward at a small angle along the cutting sliding groove 1012; after the P-shaped sliding block 210 moves a distance (clamping and cutting preparation state, Figure 8 d), the movable finger 301 reaches the specified position, at which time the clamping action is completed, the hydroponic lettuce rhizome is exposed to a certain space, the P-shaped sliding block 210 cannot push the movable finger 301, and can only push the knife shaft 401 to move; the P-shaped sliding block 210 continues to move, starts to drive the knife finger 401 to move obliquely downward at a large angle, and performs the cutting operation, and when the knife shaft 401 reaches the end point (final state, Figure 8 e), the cutting action is completed, and the rhizome of the hydroponic lettuce 5 is cut off; after the cutting action is completed, the end effector moves vertically upward under the action of the mechanical arm, and the harvesting operation is completed.

[0047] Finally, it should be noted that the above examples and explanations are only used to illustrate the technical solutions of the present application and not to limit the present application. Those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions disclosed in the present application, and all should be covered in the protection scope of the claims of the present application.

Claims

1. A push-cut type hydroponic plant harvesting end actuator, characterized in that, The system includes a support mechanism (1), a drive mechanism (2), a clamping mechanism (3), a fixed finger (303), and a cutting mechanism (4). The support mechanism (1) is equipped with the drive mechanism (2), the clamping mechanism (3), the fixed finger (303), and the cutting mechanism (4). The clamping mechanism (3) and the cutting mechanism (4) are arranged vertically at intervals. The control ends of the clamping mechanism (3) and the cutting mechanism (4) are connected to the support mechanism (1). The execution ends of the clamping mechanism (3) and the cutting mechanism (4) pass through the drive mechanism (2) and are located outside the support mechanism (1). The control end of the fixed finger (303) is fixedly installed in the support mechanism (1). The execution end of the fixed finger (303) passes through the support mechanism (1) and is also set outside the support mechanism (1); in the initial state, the clamping mechanism (3) and the cutting mechanism (4) are both located on one side of the support mechanism (1), and the fixed finger (303) is located on the other side of the support mechanism (1); the hydroponic lettuce board is placed outside the support mechanism (1) between the clamping mechanism (3) and the fixed finger (303), the driving mechanism (2) drives the clamping mechanism (3) and the cutting mechanism (4) to move close to the fixed finger (303), after the clamping mechanism (3) and the fixed finger (303) clamp the lettuce, the cutting mechanism (4) cuts the root of the lettuce and completes the harvesting action; The support mechanism (1) includes two double track plates (101), and the drive mechanism (2) includes a drive rod and a P-type slide block (210). The P-type slide block (210) is installed in the drive rod, and the drive rod is installed between the two double track plates (101). The two double track plates (101) are arranged symmetrically. Each of the two double track plates (101) is provided with a clamping slide groove (1011) and a cutting slide groove (1012). The P-type slide block (210) is provided with a drive slide groove. The execution end of the clamping mechanism (3) is sequentially inserted into the clamping slide groove (1011) of the first double track plate, the drive slide groove of the P-type slide block (210), and the clamping slide groove (1011) of the second double track plate. The execution end of the cutting mechanism (4) is sequentially inserted into the cutting slide groove (1012) of the first double track plate, the drive slide groove of the P-type slide block (210), and the cutting slide groove (1012) of the second double track plate. The clamping slide (1011) and the cutting slide (1012) are arranged vertically at intervals. Along the direction of movement close to the fixed finger (303), the clamping slide (1011) is a track that first slopes downwards and then upwards, with the inflection point of the track designated as the clamping inflection point. The end point of the clamping slide (1011) near the fixed finger (303) is higher than the end point of the clamping slide (1011) away from the fixed finger (303). The cutting slide (1012) is a track that first slopes downwards at a smaller angle and then downwards at a larger angle, with the inflection point of the track designated as the cutting inflection point. The driving slide is an open P-shaped slide (2101) with the opening direction away from the fixed finger (303), specifically including two vertically arranged horizontal tracks and... Two vertical tracks are arranged on the left and right. The top of the first vertical track is connected to the end of the upper horizontal track near the fixed finger (303), and the bottom of the first vertical track is connected to the lower horizontal track. The top of the second vertical track is connected to the end of the lower horizontal track away from the fixed finger (303). 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 height of the end point of the clamping slide (1011) near the fixed finger (303). The height of the lower horizontal track is the same as the height of the end point of the cutting slide (1012) away from the fixed finger (303). The bottom height of the second vertical track is the same as the height of the end point of the cutting slide (1012) near the fixed finger (303).

2. The push-cut type hydroponic plant harvesting end actuator according to claim 1, characterized in that, The support mechanism (1) also includes a motor mounting plate (103) and a horizontal bearing seat mounting plate (104); a motor mounting plate (103) and a horizontal bearing seat mounting plate (104) are also installed between the two double track plates (101), and the two ends of the drive rod are respectively installed in the motor mounting plate (103) and the horizontal bearing seat mounting plate (104), and a drive mechanism (2) is installed on the motor mounting plate (103).

3. The push-cut type hydroponic single-plant harvesting end actuator according to claim 1, characterized in that, The inner sidewalls of the two double track plates (101) are also provided with linear guide rails (208), and linear guide rail sliders (209) are installed inside the linear guide rails (208). The linear guide rail sliders (209) are fixedly connected to the P-type slide block (210).

4. The push-cut type hydroponic plant harvesting end actuator according to claim 1, characterized in that, The clamping mechanism (3) includes a movable finger (301) and a movable finger anti-rotation mechanism (302). The movable finger anti-rotation mechanism (302) is installed on the outer side of the double track plate (101) away from the hydroponic lettuce board. The control end of the movable finger (301) is connected to the movable finger anti-rotation mechanism (302). The execution end of the movable finger (301) passes through the clamping groove (1011) of the first double track plate, the driving groove of the P-type groove block (210), and the clamping groove (1011) of the second double track plate in sequence and is set on the outside of the double track plate (101) close to the hydroponic lettuce board.

5. The push-cut type hydroponic plant harvesting end actuator according to claim 4, characterized in that, The movable finger (301) includes a movable finger shaft (3011), a first bearing (3012), a first shaft retaining ring (3013), a first flange bearing (3014), and a first sponge sleeve (3015); the control end of the movable finger shaft (3011) is connected to the movable finger anti-rotation mechanism (302), and the execution end of the movable finger shaft (3011) passes sequentially through the clamping groove (1011) of the first double track plate, the driving groove of the P-type slide block (210), and the first... The clamping groove (1011) of the double track plate is set outside the double track plate (101) near the hydroponic lettuce plate. The movable finger shaft (3011) is connected to the P-type groove block (210) through the first flange bearing (3014). The movable finger shaft (3011) is connected to the first shaft retaining ring (3013) through the first bearing (3012). The portion of the movable finger shaft (3011) extending out of the double track plate (101) is covered with a first sponge sleeve (3015).

6. The push-cut type hydroponic plant harvesting end actuator according to claim 4, characterized in that, The movable finger anti-rotation mechanism (302) includes a second linear guide rail (3021), a second linear guide rail slider (3022), a first linear guide rail mounting plate (3023), a third linear guide rail slider (3024), a third linear guide rail (3025), and a movable finger shaft fixing block (3026). The second linear guide rail (3021) is fixedly installed on the outer side of the double track plate (101) away from the hydroponic lettuce board. The second linear guide rail slider (3022) is installed inside the second linear guide rail (3021). The third linear guide rail (3025) is installed in the second linear guide rail slider (3022) through the first linear guide rail mounting plate (3023). The third linear guide rail slider (3024) is installed inside the third linear guide rail (3025). The movable finger shaft fixing block (3026) is fixedly connected to the third linear guide rail slider (3024). The movable finger shaft fixing block (3026) is connected to the control end of the movable finger (301).

7. The push-cut type hydroponic plant harvesting end actuator according to claim 1, characterized in that, The cutting mechanism (4) includes a blade (401) and a blade anti-rotation mechanism (402). The blade anti-rotation mechanism (402) is installed on the outer side of the double track plate (101) away from the hydroponic lettuce board. The control end of the blade (401) is connected to the blade anti-rotation mechanism (402). The execution end of the moving finger (301) passes through the clamping groove (1011) of the first double track plate, the driving groove of the P-type groove block (210), and the clamping groove (1011) of the second double track plate in sequence, and is set on the outside of the double track plate (101) close to the hydroponic lettuce board.

8. The push-cut type hydroponic plant harvesting end actuator according to claim 7, characterized in that, The blade (401) includes a blade (4011), a blade shaft (4012), a second bearing (4013), a second shaft retaining ring (4014), and a second flange bearing (4015). The control end of the blade shaft (4012) is connected to the blade anti-rotation mechanism (402). The execution end of the blade shaft (4012) passes through the clamping groove (1011) of the first double track plate, the driving groove of the P-type groove block (210), and the clamping groove (1011) of the second double track plate in sequence and is set outside the double track plate (101) near the hydroponic lettuce board. The blade shaft (4012) is connected to the P-type groove block (210) through the second flange bearing (4015). The blade shaft (4012) is connected to the second shaft retaining ring (4014) through the second bearing (4013). The blade (4011) is fixedly installed at the end of the execution end of the blade shaft (4012).

9. A push-cut type hydroponic plant harvesting end actuator according to claim 7, characterized in that, The blade anti-rotation mechanism (402) includes a fourth linear guide slider (4021), a second linear guide mounting plate (4022), a fourth linear guide (4023), a fifth linear guide slider (4024), and a blade shaft fixing block (4025). A sixth linear guide is fixedly installed on the outer side of the double track plate (101) away from the hydroponic lettuce board. The fourth linear guide slider (4021) is installed inside the sixth linear guide. The fourth linear guide (4023) is installed in the fourth linear guide slider (4021) through the second linear guide mounting plate (4022). The fifth linear guide slider (4024) is installed inside the fourth linear guide (4023). The blade shaft fixing block (4025) is fixedly connected to the fifth linear guide slider (4024). The blade shaft fixing block (4025) is connected to the control end of the blade (401).

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