Multi-plant continuous harvesting equipment for hydroponic lettuce in plant factory

Abstract

The invention discloses continuous harvesting equipment for multiple hydroponic lettuce plants in a plant factory. A hydroponic lettuce conveying mechanism and a clamping mechanism are sequentially mounted on the cultivation plate precise positioning and conveying mechanism in the conveying direction of the cultivation plate; a root fixing and removing mechanism and a root cutting mechanism are further mounted in the cultivation plate precise positioning and conveying mechanism; the cultivation plate is placed on the cultivation plate accurate positioning and conveying mechanism, when the cultivation plate is conveyed to the position below the clamping mechanism, the root fixing and removing mechanism is located below the cultivation plate, and the root fixing and removing mechanism is used for fixing the roots of the hydroponic lettuce and removing the roots of the hydroponic lettuce in the cultivation plate. The clamping mechanism is used for clamping stem and leaf parts of the hydroponic lettuce and conveying the stem and leaf parts to the hydroponic lettuce conveying mechanism. Through multi-mechanism collaborative operation, flexible self-adaptive clamping and multi-station collaborative scheduling, the harvesting efficiency and the integrity of the lettuce are remarkably improved, and the lettuce harvester is suitable for large-scale harvesting of the high-density hydroponic lettuce.

Description

Technical Field

[0001] The present invention belongs to a vegetable harvesting device in the field of agricultural engineering, and particularly relates to a multi-plant continuous harvesting equipment for hydroponic lettuce in a plant factory. Background Art

[0002] In recent years, with the rapid development of plant factory technology, hydroponic lettuce has become one of the main cultivated varieties in plant factories due to its short growth cycle, stable quality, high demand, etc. However, there are still significant technical bottlenecks in the harvesting process of existing hydroponic lettuce, which restricts the further improvement of the production efficiency and economy of plant factories.

[0003] Currently, the harvesting of hydroponic lettuce mainly relies on manual operation, and workers need to cut and collect mature plants one by one. This traditional method has problems such as high labor intensity, high labor cost, and low efficiency. Especially in large-scale plant factories, frequent manual harvesting is difficult to meet the requirements of high-density and large-scale production. Although some automated harvesting equipment has been proposed, most of its designs are for single-plant harvesting. For example, a robotic arm moving clamping mechanism is used for clamping, and a cutting mechanism is used for root cutting and harvesting operations, which has deficiencies such as low harvesting efficiency. At the same time, few existing equipment can achieve the orientation of the plants upside down after root cutting to prepare for the removal of abnormal leaves of hydroponic lettuce in the subsequent process.

[0004] Therefore, there is an urgent need to develop a multi-plant continuous harvesting equipment suitable for hydroponic lettuce in a plant factory, which can perform actions such as cutting the roots of multiple hydroponic lettuces at one time, transporting hydroponic lettuce, and unloading hydroponic lettuce in an orderly and oriented manner at multiple workstations simultaneously, so as to solve the problems of low efficiency, high labor intensity, and high labor cost in manual harvesting operations. Summary of the Invention

[0005] Aiming at the problems and needs in the background art, the purpose of the present invention is to provide a multi-plant continuous harvesting equipment for hydroponic lettuce in a plant factory, which can achieve actions such as cutting the roots of multiple hydroponic lettuces at one time, transporting hydroponic lettuce, and unloading hydroponic lettuce in an orderly and oriented manner at multiple workstations synchronously, and solve the problems of low efficiency, high labor intensity, and high labor cost in manual harvesting operations.

[0006] To achieve the above purpose, the present invention provides the following technical solutions: A multi-plant continuous harvesting equipment for hydroponic lettuce in a plant factory includes a precise positioning and conveying mechanism for cultivation plates, a root fixing and removing mechanism, a root cutting mechanism, a clamping mechanism, and a hydroponic lettuce conveying mechanism; along the conveying direction of the cultivation plate, the hydroponic lettuce conveying mechanism and the clamping mechanism are successively installed on the precise positioning and conveying mechanism for cultivation plates; the root fixing and removing mechanism is installed in the precise positioning and conveying mechanism for cultivation plates below the clamping mechanism, and the root cutting mechanism is installed in the precise positioning and conveying mechanism for cultivation plates on the side of the cultivation plate outlet close to the root fixing and removing mechanism; the cultivation plate is placed on the precise positioning and conveying mechanism for cultivation plates. When the cultivation plate is conveyed below the clamping mechanism, the root fixing and removing mechanism is located below the cultivation plate. The root fixing and removing mechanism is used to fix the roots of hydroponic lettuce and remove the roots of hydroponic lettuce in the cultivation plate. The clamping mechanism is used to clamp the stem and leaf parts of hydroponic lettuce and convey them to the hydroponic lettuce conveying mechanism.

[0007] The precise positioning and conveying mechanism for cultivation plates includes a first motor, a first driving sprocket, a driving shaft, a first bearing seat, a garbage bin, a frame, a positioning detection and sensing device, a pushing bar, a limiting bar, a conveying chain, and a first idler wheel; along the conveying direction of the cultivation plate, the hydroponic lettuce conveying mechanism and the clamping mechanism are successively installed at the top of the frame. The root fixing and removing mechanism is installed in the frame below the clamping mechanism, the garbage bin is installed in the frame below the root fixing and removing mechanism, and the root cutting mechanism is installed in the frame on the side of the cultivation plate outlet close to the root fixing and removing mechanism; the positioning detection and sensing device is installed at the cultivation plate inlet end of the frame; the first motor is fixedly installed in the frame, the driving shaft is installed in the frame through the first bearing seat, the axial direction of the driving shaft is perpendicular to the conveying direction of the cultivation plate, the output shaft of the first motor is coaxially fixed to the driving shaft, two first driving sprockets are respectively coaxially fixed to the corresponding ends of the driving shaft, several first idler wheels arranged at intervals are also installed in the frame, a corresponding conveying chain is sleeved outside each first driving sprocket and the corresponding several first idler wheels, two conveying chains are symmetrically and spaced apart, several parallel and spaced apart pushing bars are installed between the two conveying chains, a corresponding limiting bar is fixedly installed on each pushing bar, and a cultivation plate placement space is formed between two adjacent pushing bars and the two conveying chains for placing the cultivation plate; the first motor drives the driving shaft to rotate, thereby driving the two first driving sprockets to rotate, so as to drive the two conveying chains and several first idler wheels to rotate, and finally convey the cultivation plate placed on the conveying chain.

[0008] The root fixing and removing mechanism includes a cylinder seat, a first joint block, a single-axis cylinder, a second joint block, a third joint block, a thrust needle bearing, a rocker, a rotating shaft and root clamping fingers; both ends of the rotating shaft are respectively connected to the corresponding third joint blocks through the corresponding thrust needle bearings, the axial direction of the rotating shaft is perpendicular to the conveying direction of the cultivation plate, and a plurality of root clamping fingers arranged at intervals in sequence along the axial direction are fixedly installed on the rotating shaft, and the root clamping fingers face the entrance of the cultivation plate; each third joint block is fixedly connected to the precise positioning and conveying mechanism of the cultivation plate, one ends of two rockers are coaxially and fixedly connected to the corresponding end parts of the rotating shaft respectively, two single-axis cylinders are fixedly connected to the corresponding first joint blocks through the corresponding cylinder seats, each first joint block is fixedly connected to the precise positioning and conveying mechanism of the cultivation plate, the other ends of the two rockers are respectively hinged to the piston rods of the corresponding single-axis cylinders through the corresponding second joint blocks, the movement direction of the piston rod of the single-axis cylinder is parallel to the conveying direction of the cultivation plate, and the single-axis cylinder drives the rotating shaft to rotate through the rocker, so as to change the direction of the root clamping fingers.

[0009] The positioning and detection sensing device includes a detection cylinder, a proximity switch mounting strip, proximity switches, elastic brackets and collision blocks; the detection cylinder is fixedly installed on one side of the entrance end of the cultivation plate of the frame, the piston rod of the detection cylinder faces the cultivation plate on the precise positioning and conveying mechanism of the cultivation plate, the proximity switch mounting strip is fixedly connected to the piston rod of the detection cylinder, two elastic brackets are also installed in the proximity switch mounting strip, the two elastic brackets are arranged at intervals in sequence along the conveying direction of the cultivation plate, one end part of each elastic bracket close to the precise positioning and conveying mechanism of the cultivation plate is connected to the corresponding collision block, and the corresponding proximity switch is installed in the proximity switch mounting strip near each elastic bracket, and the proximity switch is used to detect the state of the elastic bracket.

[0010] The root cutting mechanism includes cutting tools, a cutting tool mounting strip, an angle-adjustable cutting mechanism and a first synchronization mechanism; a plurality of cutting tools arranged at intervals in sequence are fixedly installed in the cutting tool mounting strip, the arrangement direction of the cutting tools is perpendicular to the conveying direction of the cultivation plate, and the cutting tools face the entrance of the cultivation plate; the cutting tool mounting strip is connected to the angle-adjustable cutting mechanism, the angle-adjustable cutting mechanism is connected to the side surface of the precise positioning and conveying mechanism of the cultivation plate, and the execution end parts of all the cutting tools are connected to the first synchronization mechanism.

[0011] The tool includes a second guide rail, a cutting cylinder, a second slider, a first slider mounting block, a second slider mounting block, a blade mounting block, a tool mounting block, a blade, and a second cylinder mounting block; the tool mounting block is fixedly connected to the tool mounting strip, the cutting cylinder is fixedly installed in the tool mounting block through the second cylinder mounting block, the piston rod of the cutting cylinder is connected to the blade mounting block, the blade is fixedly installed in the blade mounting block, and the blade faces the entrance of the cultivation plate; the tool mounting strip is fixedly connected to the first gear connecting shaft, the first slider mounting block is fixedly connected to the tool mounting block through the second slider mounting block, the second slider is fixedly connected to the first slider mounting block, the second slider is slidably installed in the second guide rail, the chute direction of the second guide rail is parallel to the running direction of the piston rod of the cutting cylinder, and one end of the second guide rail close to the piston rod of the cutting cylinder is fixedly connected to the blade mounting block.

[0012] The angle-adjustable cutting mechanism includes two angle-adjustable components. Each angle-adjustable component includes a rotating strip, an angle-adjusting rod, a rotating support, a root-cutting mechanism mounting plate, and a translation mechanism; corresponding root-cutting mechanism mounting plates are fixedly installed on both sides of the cultivation plate precise positioning and conveying mechanism, a corresponding translation mechanism is installed on each root-cutting mechanism mounting plate, both ends of the tool mounting strip are respectively hinged to one end of a corresponding rotating support through a corresponding rotating strip, the other end of the rotating support is fixedly connected to the translation mechanism, the middle of the rotating strip is hinged to one end of the angle-adjusting rod, and the other end of the angle-adjusting rod is hinged to the translation mechanism.

[0013] The clamping mechanism includes a clamping base, a multi-station chain mechanism, a left finger group, and a right finger group. The multi-station chain mechanism is fixedly installed on the cultivation plate precise positioning and conveying mechanism through the clamping base, and the left finger group and the right finger group are alternately installed in the multi-station chain mechanism in sequence.

[0014] The left finger group includes a left finger assembly and a right finger assembly arranged alternately in sequence. One left finger assembly and one right finger assembly form a finger. The finger assembly includes a finger, a finger double rotating shaft, a finger pin shaft, a second bearing, a rotation limiting block, a torsion spring, a stop block, a hand claw seat, a first bolt, and a second bolt; the end of the finger is hinged to one end of the finger double rotating shaft through the finger pin shaft, the other end of the finger double rotating shaft is installed in the hand claw seat through the second bearing and the other end of the finger double rotating shaft is coaxially fixedly connected to the rotation limiting block through the first bolt; a stop block is also fixedly installed at the mounting surface of the hand claw seat where the rotation limiting block is located, and the rotation limiting block cooperates with the stop block to realize the circumferential rotation limit of the finger double rotating shaft; the torsion spring is sleeved on the head of the first bolt, a second bolt is also installed at the mounting surface of the hand claw seat where the rotation limiting block is located, and the two torsion arms of the torsion spring are respectively press-fitted and fixed to the rotation limiting block and the second bolt.

[0015] The multi-station chain mechanism includes a conveyor mechanism mounting plate, a clamping bracket, a second guide post, a second horizontal shaft support, a second horizontal shaft support mounting plate, a second idler pulley, a clamping chain guide rail, a chain guide rail mounting block, a clamping chain, a second driving wheel, a second motor, and a tensioning pulley; corresponding conveyor mechanism mounting plates are fixedly installed on one side of the cultivation plate precise positioning conveyor mechanism; along the conveying direction of the cultivation plate, two second horizontal shaft support mounting plates are sequentially fixedly installed on the bottom surface of the conveyor mechanism mounting plate, and each second guide post is fixedly installed on the lower surface of the corresponding second horizontal shaft support mounting plate through the corresponding second horizontal shaft support, and all the second guide posts are embedded in the clamping base; clamping brackets are fixedly installed on the two conveyor mechanism mounting plates, corresponding clamping chains are arranged on both sides of the clamping brackets, a second motor is fixedly installed in each clamping bracket where each clamping chain is located, the output shaft of each second motor is coaxially fixed to the corresponding second driving wheel, several tensioning pulleys and second idler pulleys are installed in the clamping brackets, each clamping chain is driven by the corresponding second motor and second driving wheel, and each clamping chain and the corresponding second driving wheel, several second idler pulleys, and tensioning pulleys together form a clamping driving member; a left finger group and a right finger group are alternately installed between the two clamping chains in sequence; a clamping chain guide rail is installed in each clamping bracket where each clamping chain is located through a chain guide rail mounting block.

[0016] The first synchronization mechanism includes a first gear connecting shaft, a first roller bearing mounting block, a first synchronization rack, a second roller bearing mounting block, a roller bearing, a bearing seat mounting block, a horizontal bearing seat, and a first synchronization gear; the execution ends of all the tools are connected to the first gear connecting shaft, the axial direction of the first gear connecting shaft is perpendicular to the conveying direction of the cultivation plate, each end of the first gear connecting shaft is installed in the corresponding bearing seat mounting block through the corresponding horizontal bearing seat, each end of the first gear connecting shaft is also coaxially fixed to the corresponding first synchronization gear, a corresponding first synchronization rack is also arranged at each first synchronization gear, each first synchronization gear meshes with the corresponding first synchronization rack to form a gear-rack pair, and a first roller bearing mounting block and a second roller bearing mounting block are fixedly installed at the cultivation plate precise positioning conveyor mechanism on one side of each bearing seat mounting block close to the cultivation plate outlet, and a roller bearing is installed in the first roller bearing mounting block and the second roller bearing mounting block, and the roller bearing is used to limit the first synchronization rack.

[0017] Each of the root fingers includes a single-hole fixed clamp, a finger cylinder mounting block, a finger cylinder, and a sponge block finger; the finger cylinder mounting block is fixedly connected to the rotating shaft through the single-hole fixed clamp, the finger cylinder is fixedly connected to the finger cylinder mounting block, the sponge block finger is fixedly connected to the piston rod of the finger cylinder, and the opening direction of the sponge block finger faces the inlet of the cultivation plate.

[0018] The translation mechanism includes a sliding base, a first slider, a first guide rail, a first cylinder mounting block, and a translation cylinder; a translation cylinder is fixedly installed on each root cutting mechanism mounting plate, and each root cutting mechanism mounting plate is also provided with a first guide rail. A first slider is slidably installed on the first guide rail, the sliding base is fixedly installed on the first slider, the piston rod of the translation cylinder is connected to the sliding base, and a rotating support is fixedly installed on the sliding base.

[0019] The clamping base includes two adjustable bases, which are symmetrically installed on the side of the cultivation plate precise positioning and conveying mechanism. A multi-station chain mechanism is installed on the two adjustable bases; the two adjustable bases have the same structure and both include a first base mounting plate, a handwheel, a lead screw, a lead screw support seat, a lead screw nut, a first horizontal shaft support, a first horizontal shaft support mounting block, a support leg, a bearing and lead screw integrated mounting plate, a first linear bearing, a first guide post, a linear bearing mounting plate, and a second base mounting plate; along the conveying direction of the cultivation plate, a first base mounting plate and a second base mounting plate are sequentially arranged on one side of the cultivation plate precise positioning and conveying mechanism. The first base mounting plate and the second base mounting plate are connected by a first guide post. A bearing and lead screw integrated mounting plate and a linear bearing mounting plate are also arranged between the first base mounting plate and the second base mounting plate. The bearing and lead screw integrated mounting plate and the linear bearing mounting plate are arranged in parallel and at intervals. Guide post mounting holes are opened in both the bearing and lead screw integrated mounting plate and the linear bearing mounting plate. The first guide post is installed in the corresponding guide post mounting holes of the bearing and lead screw integrated mounting plate and the linear bearing mounting plate through the corresponding first linear bearings; the handwheel is coaxially fixed to the lead screw, the lead screw is installed in the first base mounting plate through the lead screw support seat, one end of the lead screw passes through the first base mounting plate and is arranged inside the cultivation plate precise positioning and conveying mechanism, and the end of the lead screw is coaxially connected to the lead screw nut. The lead screw nut is fixedly installed in the bearing and lead screw integrated mounting plate; support legs corresponding to each are fixedly installed on the sides of the bearing and lead screw integrated mounting plate and the linear bearing mounting plate. A corresponding first horizontal shaft support mounting block is fixedly installed on each support leg, and a corresponding first horizontal shaft support is fixedly installed on each first horizontal shaft support mounting block.

[0020] The hydroponic lettuce conveying mechanism includes a lifting mechanism and a belt conveying mechanism; the lifting mechanism is installed on the cultivation plate precise positioning and conveying mechanism, and the belt conveying mechanism is installed on the belt conveying mechanism.

[0021] The hydroponic lettuce conveying mechanism further includes a second synchronization mechanism, which is connected to the belt conveying mechanism and is used to synchronously control the lifting movement at both ends of the belt conveying mechanism.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The present invention proposes a new mechanized harvesting strategy, which is different from the conventional "one-harvest-one-discharge" strategy. It adopts a multi-station operation to implement a continuous harvesting strategy, realizing synchronous root cutting, transportation, and vegetable unloading actions, thus improving work efficiency.

[0023] 2. The precisely positioned conveying mechanism of the cultivation board designed by the present invention adopts a limit push bar system with a double-chain parallel layout and ensures the precise position and pose of the cultivation board through a notch detection sensing device, realizing the precise mixed-flow conveying of two specifications of cultivation boards.

[0024] 3. The root fixing and removing mechanism designed by the present invention clamps and fixes the roots by a finger cylinder, coordinates the clamping and cutting actions, and uses a rotating shaft pull-down structure to remove the residual roots. This structure is not only used for the auxiliary clamping and cutting of hydroponic lettuce but also realizes the removal and collection treatment of the residual roots after cutting, cleaning the cultivation board, and facilitating the subsequent recycling use of the cultivation board.

[0025] 4. The clamping mechanism designed by the present invention adopts a flexible claw, which can passively adjust the opening of the claw according to the size of the plant, realizing flexible clamping.

[0026] 5. The clamping mechanism designed by the present invention adopts a multi-station flexible claw with a double-chain parallel layout and an adaptive torsion spring structure. Relying on the self-weight of the hydroponic lettuce, it realizes the simultaneous flexible clamping and gravity unloading of multiple plants, that is, the hydroponic lettuce is placed in an inverted posture on the hydroponic lettuce conveying line during unloading, facilitating operations such as removing abnormal leaves.

[0027] 6. The root cutting mechanism designed by the present invention is equipped with a movable cutting mechanism and a synchronous rack and gear system, realizing adjustable angles. The clamping mechanism is adjustable in the vertical direction and the cultivation board conveying direction relative to the precisely positioned conveying mechanism of the cultivation board to adapt to the high-precision cutting and harvesting of lettuce at different growth stages or of different varieties.

[0028] 7. Both the root cutting mechanism and the hydroponic lettuce conveying mechanism designed by the present invention adopt a mechanical synchronization mechanism to eliminate the risk of asynchronous cylinders, improving the reliability and stability of the harvesting equipment.

[0029] 8. The hydroponic lettuce conveying mechanism designed by the present invention integrates a lifting belt and a synchronous lifting unit, reducing falling damage, ensuring the inverted posture of the lettuce, and avoiding material interference. Description of the Drawings

[0030] Figure 1 is the overall structural schematic diagram of the multi-plant continuous harvesting equipment for hydroponic lettuce in a plant factory Figure 1 ; Figure 2 is the structural schematic diagram of the precisely positioned conveying mechanism of the cultivation board; Figure 3 is the front view of the root fixing and removing mechanism; Figure 4 It is a structural schematic diagram of the root cutting mechanism; Figure 5 It is a sectional view of the tool; Figure 6 It is a structural schematic diagram of the clamping base; Figure 7 It is a structural schematic diagram of the multi-station chain mechanism; Figure 8 It is a structural schematic diagram of the left finger group; Figure 9 It is a structural schematic diagram of the left flexible finger, where (a) is the exploded view of the left flexible finger and (b) is the axonometric view of the left flexible finger; Figure 10 It is the station distribution diagram of the multi-station chain mechanism; Figure 11 It is a structural schematic diagram of the hydroponic lettuce conveying mechanism; Figure 12 It is the overall structural schematic of the multi-plant continuous harvesting equipment for hydroponic lettuce in a plant factory Figure 2 .

[0031] In the figure: 1. Precise positioning and conveying mechanism for cultivation plates, 101. First motor, 102. Motor mounting plate, 103. First driving sprocket, 104. First expansion sleeve, 105. Driving shaft, 106. First bearing block, 107. Bearing block mounting plate, 108. Dustbin, 109. Frame, 110. First cultivation plate, 111. Second cultivation plate, 112. Positioning and detection sensing device, 11201. Detection cylinder, 11202. Proximity switch mounting strip, 11203. Proximity switch, 11204. Switch mounting seat, 11205. Elastic support, 11206. Collision block, 113. Guide flat plate, 114. Pushing bar, 115. Limiting strip, 116. Conveyor chain, 117. Conveyor chain guide rail, 118. First idler wheel, 2. Root fixing and removing mechanism, 201. First pin shaft, 202. Nylon gasket, 203. Cylinder seat, 204. First joint block, 205. Single-axis cylinder, 206. Second joint block, 207. Third joint block, 208. Thrust needle roller bearing, 209. Rocker, 210. Rotating shaft, 211. Single-hole fixing clamp, 212. Finger cylinder mounting block, 213. Finger cylinder, 214. Sponge block clamp finger, 3. Root cutting mechanism, 301. Tool, 30101. Second guide rail, 30102. Cutting cylinder, 30103. Second slider, 30104. First slider mounting block, 30105. Second slider mounting block, 30106. Second U-shaped plate, 30107. Second floating joint, 30108. Blade mounting block, 30109. Blade reinforcement piece, 30110. Blade, 30111. Second cylinder mounting block, 30112. Tool mounting block, 302. Reinforcement plate, 303. Tool mounting strip, 304. First gear connecting shaft, 305. Rotating strip, 306. First roller bearing mounting block, 307. First synchronous rack, 308. Cylindrical pin, 309. Second roller bearing mounting block, 310. Roller bearing, 311. Bearing block mounting plate, 312. Horizontal bearing block, 313. First synchronous gear, 314. Angle adjusting rod, 315. Rotating support, 316. First slider, 317. Sliding base, 318. First guide rail, 319. First U-shaped plate, 320. First floating joint, 321. Root cutting mechanism mounting plate, 322. First cylinder mounting block, 323. Translating cylinder, 4. Clamping mechanism, 40101. First base mounting plate, 40102. Handwheel, 40103. Lead screw, 40104. Lead screw support seat, 40105. Lead screw nut, 40106. Adjusting bolt, 40107. First horizontal shaft support, 40108. First horizontal shaft support mounting block, 40109. Aluminum profile support leg, 40110. Integrated bearing and lead screw mounting plate, 40111. First linear bearing, 40112. First guide post, 40113. Linear bearing mounting plate, 40114. Second base mounting plate, 40201. Conveying mechanism mounting plate, 40202. Second pin shaft,40203. Second guiding column, 40204. Second horizontal shaft support, 40205. Second horizontal shaft support mounting plate, 40206. Second idler gear, 40207. Clamping chain guide rail, 40208. Chain guide rail mounting block, 40209. Clamping chain, 40210. Second driving wheel, 40211. Second motor, 40212. Second expansion sleeve, 40213. Tensioning wheel, 40301. Pin connection cover, 40302. Pin connection rotating shaft, 40303. Rotating shaft fixing block, 40304. Cross beam connection block, 40305. 4040 aluminum profile, 40306. 2020 aluminum profile, 40307. 2040 aluminum profile, 40308. Right hand claw seat, 40309. Right finger, 40310. Left finger, 40311. Finger double rotating shaft, 40312. Finger pin shaft, 40313. Left hand claw seat, 40314. Second bearing, 40315. Rotation limit block, 40316. Torsion spring, 40317. Stop block, 40318. First bolt, 40319. Second bolt, 5. Hydroponic lettuce conveying mechanism, 501. Lifting cylinder, 502. Third guiding column, 503. Second linear bearing, 504. Fixed ring, 505. Third horizontal shaft support, 508. Cylindrical joint, 509. Support bar, 510. Second synchronous gear, 511. Second synchronous rack, 512. Rack mounting block, 513. Vertical bearing seat, 514. Second gear connecting shaft, 6. Lettuce., Detailed implementation manners

[0032] The present invention will be further described below in conjunction with the drawings and embodiments.

[0033] As Figure 1 and Figure 12 shown, a multi-plant continuous harvesting equipment for hydroponic lettuce in a plant factory proposed by the present invention includes a cultivation plate precise positioning and conveying mechanism 1, a root fixing and removing mechanism 2, a root cutting mechanism 3, a clamping mechanism 4 and a hydroponic lettuce conveying mechanism 5; along the conveying direction of the cultivation plate, a hydroponic lettuce conveying mechanism 5 and a clamping mechanism 4 are sequentially installed on the cultivation plate precise positioning and conveying mechanism 1, and the hydroponic lettuce conveying mechanism 5 and the clamping mechanism 4 are arranged at intervals; a root fixing and removing mechanism 2 is installed in the cultivation plate precise positioning and conveying mechanism 1 below the clamping mechanism 4, and a root cutting mechanism 3 is installed in the cultivation plate precise positioning and conveying mechanism 1 on one side close to the cultivation plate outlet of the root fixing and removing mechanism 2; the cultivation plate is placed on the cultivation plate precise positioning and conveying mechanism 1, and when each cultivation plate is conveyed below the clamping mechanism 4, the root fixing and removing mechanism 2 is located below the current cultivation plate, and the root fixing and removing mechanism 2 is used to fix the roots of multiple plants of hydroponic lettuce in each row and remove the roots and sponge blocks of the hydroponic lettuce in the cultivation plate, and the clamping mechanism 4 is used to clamp the stem and leaf parts of the hydroponic lettuce and convey them to the hydroponic lettuce conveying mechanism 5.

[0034] AsFigure 2As shown in the figure, the precise positioning and conveying mechanism 1 of the cultivation plate includes a first motor 101, a motor mounting plate 102, a first driving sprocket 103, a first expansion sleeve 104, a driving shaft 105, a first bearing block 106, a bearing block mounting plate 107, a trash bin 108, a frame 109, a positioning detection sensing device 112, a guiding flat plate 113, a pushing bar 114, a limiting bar 115, a conveying chain 116, a conveying chain guide rail 117, and a first idler wheel 118. Along the conveying direction of the cultivation plate, a hydroponic lettuce conveying mechanism 5 and a clamping mechanism 4 are successively installed on the top of the frame 109. A root fixing and removing mechanism 2 is installed in the frame 109 below the clamping mechanism 4. A trash bin 108 is installed in the frame 109 below the root fixing and removing mechanism 2 to collect the remaining roots in the holes of the cultivation plate after cutting. A guiding flat plate 113 is also installed on the frame 109 above the trash bin 108, whose function is to prevent the fingers from interfering with the cultivation plate during the movement of the flexible gripper and avoid equipment damage. A root cutting mechanism 3 is installed in the frame 109 on the side of the root fixing and removing mechanism 2 close to the outlet of the cultivation plate. A positioning detection sensing device 112 is installed at the inlet end of the cultivation plate of the frame 109 to detect the placement pose of the cultivation plate. The first motor 101 is fixedly installed in the frame 109 through the motor mounting plate 102, and the first bearing block 106 is fixedly installed in the frame 109 through the bearing block mounting plate 107. The driving shaft 105 is installed in the frame 109 through the first bearing block 106. The axial direction of the driving shaft 105 is perpendicular to the conveying direction of the cultivation plate. The output shaft of the first motor 101 is coaxially fixed to the driving shaft 105. Two first driving sprockets 103 are respectively coaxially fixed to the corresponding ends of the driving shaft 105 through the corresponding first expansion sleeves 104. A number of spaced-apart first idler wheels 118 are also installed in the frame 109. A corresponding conveying chain 116 is sleeved outside each first driving sprocket 103 and the corresponding number of first idler wheels 118. Specifically, there are four first idler wheels 118. The two conveying chains 116 are symmetrically and spaced apart. A conveying chain guide rail 117 arranged along the conveying direction of the cultivation plate is provided at the top of the frame 109, and the conveying chain 116 is arranged in the conveying chain guide rail 117. A number of parallel and spaced-apart pushing bars 114 are installed between the two conveying chains 116. The direction of the pushing bar 114 is perpendicular to the conveying direction of the cultivation plate. Three corresponding limiting bars 115 are fixedly installed on each pushing bar 114 to form a limiting pushing bar. The limiting bar 115 is used to limit the cultivation plate. A cultivation plate placement space is formed between two adjacent pushing bars 114 and the two conveying chains 116 for placing the cultivation plate. Eleven limiting pushing bars are equidistantly distributed on the conveying chain 116. By clamping the cultivation plate in the card slots of the limiting pushing bars, the precise conveying of the cultivation plate along with the conveying chain can be realized. The first motor 101 drives the driving shaft 105 to rotate, thereby driving the two first driving sprockets 103 to rotate, and then driving the two conveying chains 116 and a number of first idler wheels 118 to rotate, and finally conveying the cultivation plate placed on the conveying chain 116.The outer link sections of the conveyor chain 116 have three forms, including single-hole bent plates on one side, single-hole vertical plates on one side, and double-hole bent plates on one side, which are formed according to a certain rule. Among them, the single-hole bent plates on one side are used to support the cultivation plates, the single-hole vertical plates on one side are used to limit and support the plates to prevent them from moving sideways on both vertical sides in the conveying direction, and the double-hole bent plates on one side are used to install the limit push bars. The chain guide 117 is installed inside the frame 109 to support the conveyor chain 116, keeping the working part of the conveyor chain 116 on a horizontal plane and realizing the stable and accurate conveyance of the cultivation plates.

[0035] In actual production, there are two specifications of cultivation plates, namely the first cultivation plate 110 and the second cultivation plate 111. The two cultivation plates are of a symmetrical structure, so each has a semi-circular notch. Considering the distribution of the holes on the cultivation plates, the designed harvesting equipment has requirements for the pose of the cultivation plates, that is, for both the first cultivation plate 110 and the second cultivation plate 111, the side with the semi-circular notch needs to be placed on the same side. When manually transporting the cultivation plates to the precise positioning and conveying mechanism of the cultivation plates, errors may occur, so a positioning detection sensing device 112 is required to detect the semi-circular notch to determine whether the pose of the cultivation plates is correct.

[0036] The positioning detection sensing device 112 includes a detection cylinder 11201, a proximity switch mounting strip 11202, proximity switches 11203, switch mounting seats 11204, elastic brackets 11205, and collision blocks 11206; the detection cylinder 11201 is fixedly installed on one side of the inlet end of the cultivation plate on the frame 109, and the piston rod of the detection cylinder 11201 faces the cultivation plate on the precise positioning conveying mechanism 1 of the cultivation plate. The proximity switch mounting strip 11202 is fixedly connected to the piston rod of the detection cylinder 11201. Two elastic brackets 11205 are also installed in the proximity switch mounting strip 11202. The two elastic brackets 11205 are arranged at intervals in sequence along the conveying direction of the cultivation plate. One end of each elastic bracket 11205 close to the precise positioning conveying mechanism 1 of the cultivation plate is connected to the corresponding collision block 11206. Corresponding proximity switches 11203 are installed in the proximity switch mounting strip 11202 near each elastic bracket 11205 through the corresponding switch mounting seats 11204. The proximity switches 11203 are used to detect the state of the elastic brackets 11205. The other end of each elastic bracket 11205 is a metal head, which is used as an induction target. If a notch is detected, the collision block 11206 will not contact the cultivation plate, and the elastic bracket will have no reaction; if no notch is detected, the collision block 11206 contacts the cultivation plate, the elastic bracket moves backward, and the proximity switch 11203 detects the metal head and generates a signal. It is necessary to combine the results of this detection of the positioning detection sensing device 112 and the results of the previous detection to judge whether the cultivation plate is placed correctly: when the proximity switch 11203 close to the inlet did not detect a notch and had a signal in the previous detection, and the proximity switch 11203 far from the inlet did not detect a notch in this detection, it means that the previous cultivation plate was placed incorrectly; when the proximity switch 11203 close to the inlet did not detect a notch in the previous detection, and the proximity switch 11203 far from the inlet detected a notch and had no signal in this detection, it means that the previous cultivation plate was placed correctly; when the proximity switch 11203 close to the inlet detected a notch in the previous detection, and the proximity switch 11203 far from the inlet did not detect a notch in this detection, it means that the previous cultivation plate was placed correctly; when the proximity switch 11203 close to the inlet detected a notch in the previous detection, and the proximity switch 11203 far from the inlet detected a notch in this detection, it means that the previous cultivation plate was not placed.

[0037] Such as Figure 3As shown in the figure, the root fixing and removing mechanism 2 includes a first pin shaft 201, a acetal gasket 202, a cylinder seat 203, a first joint block 204, a single-axis cylinder 205, a second joint block 206, a third joint block 207, a thrust needle roller bearing 208, a rocker 209, a rotating shaft 210 and root clamping fingers; both ends of the rotating shaft 210 are respectively connected to the corresponding third joint block 207 through the corresponding thrust needle roller bearings 208. The rotating shaft 210 is horizontally arranged and the axial direction of the rotating shaft 210 is perpendicular to the conveying direction of the cultivation plate. A number of root clamping fingers are fixedly installed on the rotating shaft 210 at intervals along the axial direction, and specifically there are six root clamping fingers. The root clamping fingers face the entrance of the cultivation plate; each third joint block 207 is fixedly connected to one side surface of the frame 109 of the cultivation plate precise positioning and conveying mechanism 1. One ends of the two rockers 209 are coaxially and fixedly connected to the corresponding ends of the rotating shaft 210 respectively. The 2 single-axis cylinders 205 are fixedly connected to the corresponding first joint blocks 204 through the corresponding cylinder seats 203, and the cylinder seat 203 is fixedly connected to the first joint block 204 through the first pin shaft 201 and the acetal gasket 202. Each first joint block 204 is fixedly connected to one side surface of the frame 109 of the cultivation plate precise positioning and conveying mechanism 1. The other ends of the two rockers 209 are respectively hinged to the piston rods of the corresponding single-axis cylinders 205 through the corresponding second joint blocks 206. The moving direction of the piston rod of the single-axis cylinder 205 is parallel to the conveying direction of the cultivation plate. The installation height of the third joint block 207 is higher than that of the cylinder seat 203. The single-axis cylinder 205 drives the rotating shaft 210 to rotate through the second joint block 206 and the rocker 209, so as to change the direction of the root clamping fingers.

[0038] Each root clamping finger includes a single-hole fixed clamp 211, a finger cylinder mounting block 212, a finger cylinder 213 and a sponge block clamping finger 214; the finger cylinder mounting block 212 is fixedly connected to the rotating shaft 210 through the single-hole fixed clamp 211. The finger cylinder 213 is fixedly connected to the finger cylinder mounting block 212. The sponge block clamping finger 214 is fixedly connected to the piston rod of the finger cylinder 213. The driving direction of the piston rod of the finger cylinder 213 is parallel to the conveying direction of the cultivation plate. The opening direction of the sponge block clamping finger 214 faces the entrance of the cultivation plate. The sponge block clamping finger 214 is used for clamping and fixing the roots in the sponge block. Considering the interchangeability of parts, the left and right sponge block clamping fingers are designed with the same structure. When the piston rod of the single-axis cylinder 205 is in the fully extended state, the finger cylinder 213 is horizontally placed and its fingers are opened to prepare for clamping the sponge block for fixation. After the cutting action is completed, the roots and the sponge block remain in the cultivation holes of the cultivation plate. The piston rod of the single-axis cylinder 205 retracts, driving the rotating shaft 210 to rotate by a certain angle, and the sponge block in the cultivation hole is pulled out. Subsequently, the finger cylinder 213 is opened and the sponge block falls into the trash bin 108.

[0039] As Figure 4As shown in the figure, the root cutting mechanism 3 includes a cutter 301, a cutter mounting strip 303, a reinforcing plate 302, an angle-adjustable cutting mechanism, and a first synchronization mechanism. A number of cutters 301 arranged at intervals in sequence are fixedly installed in the cutter mounting strip 303. The cutter mounting block 30112 of each cutter 301 is fixedly connected to the cutter mounting strip 303. The arrangement direction of the cutters 301 is perpendicular to the conveying direction of the cultivation plate, and the cutters 301 face the entrance of the cultivation plate. Six cutters 301 are arranged at equal intervals. Since the hole positions on the cultivation plate are arranged alternately in odd and even positions, by using the odd and even position cutter alternating working mechanism, multi-plant simultaneous harvesting of lettuce plants under high density is achieved. A reinforcing plate 302 is also provided on the cutter mounting strip 303. A number of mounting holes are provided in the reinforcing plate 302, and the bottoms of all the cutters 301 are respectively arranged in the corresponding mounting holes. The cutter mounting strip 303 is connected to the angle-adjustable cutting mechanism. Specifically, the two end portions of the cutter mounting strip 303 are respectively hinged to the tops of the corresponding rotary supports 315 through the corresponding rotary bars 305. The root cutting mechanism mounting plate 321 of the angle-adjustable cutting mechanism is connected to the side surface of the frame 109 of the cultivation plate precise positioning and conveying mechanism 1. The execution ends of all the cutters 301 are connected to the first gear connecting shaft 304 of the first synchronization mechanism.

[0040] The angle-adjustable cutting mechanism includes two angle-adjustable components. Each angle-adjustable component includes a rotary bar 305, an angle adjustment rod 314, a rotary support 315, a root cutting mechanism mounting plate 321, and a translation mechanism. Corresponding root cutting mechanism mounting plates 321 are fixedly installed on both sides of the frame 109 of the cultivation plate precise positioning and conveying mechanism 1. A corresponding translation mechanism cutter is installed on each root cutting mechanism mounting plate 321. The two end portions of the cutter mounting strip 303 are respectively hinged to one end of the corresponding rotary support 315 through the corresponding rotary bar 305. The rotary bar 305 can perform a rotary motion around the pin shaft. Its rotation center is accurately positioned on the geometric extension line of the blade edge of the cutter 301 in the fully extended state. This design ensures a high-precision match between the angle rotation adjustment process and the cutter operation trajectory. The other end of the rotary support 315 is fixedly connected to the sliding base 317 of the translation mechanism. The middle part of the rotary bar 305 is hinged to one end of the angle adjustment rod 314, and the other end of the angle adjustment rod 314 is hinged to the sliding base 317 of the translation mechanism.

[0041] When the clamping mechanism of the root cutting mechanism performs the clamping action, it needs to move away from the working position. After the clamping mechanism completes the clamping, the root cutting mechanism enters the working position to perform the cutting action and immediately resets after the action is completed. In order to ensure that the root cutting mechanism and the clamping mechanism do not interfere with each other, the present invention proposes a translation mechanism. The translation mechanism includes a sliding base 317, a first slider 316, a first guide rail 318, a first U-shaped plate 319, a first floating joint 320, a first cylinder mounting block 322, and a translation cylinder 323; a first cylinder mounting block 322 is fixedly installed on each root cutting mechanism mounting plate 321, a translation cylinder 323 is installed in the first cylinder mounting block 322, and the movement direction of the piston rod of the translation cylinder 323 is parallel to the conveying direction of the cultivation plate; each root cutting mechanism mounting plate 321 is further provided with a first guide rail 318, a first slider 316 is slidably installed on the first guide rail 318, the sliding base 317 is fixedly installed on the first slider 316, the piston rod of the translation cylinder 323 is connected to the sliding base 317 through the first U-shaped plate 319 and the first floating joint 320, and a rotating support 315 is fixedly installed on the sliding base 317.

[0042] The first synchronization mechanism includes a first gear connecting shaft 304, a first roller bearing mounting block 306, a first synchronization rack 307, a cylindrical pin 308, a second roller bearing mounting block 309, a roller bearing 310, a bearing block mounting block 311, a horizontal bearing block 312, and a first synchronization gear 313; the execution ends of all the cutters 301 are connected to the first gear connecting shaft 304, so that the orientations of a plurality of cutters 301 are the same. The axial direction of the first gear connecting shaft 304 is perpendicular to the conveying direction of the cultivation plate. Each end of the first gear connecting shaft 304 is installed in the corresponding bearing block mounting block 311 through the corresponding horizontal bearing block 312. Each end of the first gear connecting shaft 304 is also fixedly connected coaxially with the corresponding first synchronization gear 313. A corresponding first synchronization rack 307 is also provided at each first synchronization gear 313. One end of the first synchronization gear 313 is hinged to the sliding base 317. Each first synchronization gear 313 meshes with the corresponding first synchronization rack 307 to form a gear-rack pair. The axial direction of the first synchronization rack 307 is parallel to the conveying direction of the cultivation plate, and the axial direction of the first gear connecting shaft 304 is perpendicular to the conveying direction of the cultivation plate. A first roller bearing mounting block 306 and a second roller bearing mounting block 309 are fixedly installed on one side of the frame 109 of the cultivation plate precise positioning and conveying mechanism 1 near the cultivation plate outlet side of each bearing block mounting block 311. The first roller bearing mounting block 306 and the second roller bearing mounting block 309 are fixedly connected by bolts. Four cylindrical pins 308 are installed on the second roller bearing mounting block 309, installed on both sides of the first synchronization rack 307, and cooperate with the roller bearing 310 to limit the first synchronization rack 307. The first roller bearing mounting block 306 and the second roller bearing mounting block 309 are installed with the roller bearing 310, and the roller bearing 310 is used to limit the other end of the first synchronization rack 307. The first synchronization mechanism can achieve the forced synchronous movement of the two side translation cylinders 323 through mechanical coupling, and solve the problem of inconsistent cylinder movement speeds caused by factors such as air pressure, load distribution, friction, and manufacturing errors.

[0043] Such as Figure 5As shown in the figure, the cutting tool 301 includes a second guide rail 30101, a cutting cylinder 30102, a second slider 30103, a first slider mounting block 30104, a second slider mounting block 30105, a second U-shaped plate 30106, a second floating joint 30107, a blade mounting block 30108, a tool mounting block 30112, a blade reinforcement piece 30109, a blade 30110, and a second cylinder mounting block 30111. The tool mounting block 30112 is fixedly connected to the tool mounting strip 303. The cutting cylinder 30102 is fixedly installed in the tool mounting block 30112 through the second cylinder mounting block 30111. The piston rod of the cutting cylinder 30102 is floatingly connected to the blade mounting block 30108 through the second U-shaped plate 30106 and the second floating joint 30107. The blade 30110 is fixedly installed in the blade mounting block 30108, and the blade 30110 faces the entrance of the cultivation plate. Among them, in order to enhance the stiffness of the blade, a blade reinforcement piece 30109 is provided at the connection between the blade 30110 and the blade mounting block 30108. The blade reinforcement piece 30109 at the lower surface of the tool mounting strip 303 is fixedly connected to the first gear connecting shaft 304. The first slider mounting block 30104 is fixedly connected to the tool mounting block 30112 through the second slider mounting block 30105. The second slider 30103 is fixedly connected to the first slider mounting block 30104. The second slider 30103 is slidably installed in the second guide rail 30101. The second guide rail 30101 and the cutting cylinder 30102 are arranged vertically and at intervals. The chute direction of the second guide rail 30101 is parallel to the running direction of the piston rod of the cutting cylinder 30102. One end of the second guide rail 30101 close to the piston rod of the cutting cylinder 30102 is fixedly connected to the blade mounting block 30108. When the cutting cylinder 30102 drives the blade 30110, it also drives the second guide rail 30101 to move. When the cutting tool 301 works, the piston rod extends. Under the action of the second slider 30103 and the second guide rail 30101, the blade can only move in one direction.

[0044] As Figure 7 shown, the clamping mechanism 4 includes a clamping base, a multi-station chain mechanism, a left finger group, and a right finger group. The multi-station chain mechanism is fixedly installed on the frame 109 of the cultivation plate precise positioning and conveying mechanism 1 through the clamping base. The left finger group and the right finger group are alternately installed in the multi-station chain mechanism through the corresponding second pin shafts 40202 in sequence.

[0045] As Figure 6As shown, the clamping base includes two adjustable bases, which are symmetrically installed on the side of the frame 109 of the cultivation plate precise positioning and conveying mechanism 1. The adjustable bases are used to adjust the position of the multi-station chain mechanism in the cultivation plate conveying direction. The multi-station chain mechanism is installed on the two adjustable bases. Specifically, two second guide columns 40203 of the multi-station chain mechanism are installed in the first horizontal shaft support 40107 of each adjustable base; in order to achieve precise position adjustment between the first base mounting plate 40101 and the bearing screw integrated mounting plate 40110, a screw drive system driven by a handwheel 40102 is adopted. The system includes a screw 40103, a screw support 40104 and a screw nut 40105, which together constitute a precise displacement adjustment mechanism based on a screw pair. Through the screw drive, the multi-station chain mechanism can move in the conveying direction. The two adjustable bases have the same structure and both include a first base mounting plate 40101, a handwheel 40102, a screw 40103, a screw support 40104, a screw nut 40105, an adjusting bolt 40106, a first horizontal shaft support 40107, a first horizontal shaft support mounting block 40108, an aluminum profile support leg 40109, a bearing screw integrated mounting plate 40110, a first linear bearing 40111, a first guide column 40112, a linear bearing mounting plate 40113 and a second base mounting plate 40114; along the conveying direction of the cultivation plate, a first base mounting plate 40101 and a second base mounting plate 40114 are sequentially arranged on one side of the frame 109 of the cultivation plate precise positioning and conveying mechanism 1. The first base mounting plate 40101 and the second base mounting plate 40114 are arranged below the side of the cultivation plate. The first base mounting plate 40101 and the second base mounting plate 40114 are connected by two parallel and vertically spaced first guide columns 40112. The axial direction of the first guide column 40112 is parallel to the conveying direction of the cultivation plate.A bearing screw integrated mounting plate 40110 and a linear bearing mounting plate 40113 are also provided between the first base mounting plate 40101 and the second base mounting plate 40114. The bearing screw integrated mounting plate 40110 and the linear bearing mounting plate 40113 are arranged in parallel and at intervals. Guide post mounting holes are opened in both the bearing screw integrated mounting plate 40110 and the linear bearing mounting plate 40113. Each first guide post 40112 is installed in the corresponding guide post mounting holes of the bearing screw integrated mounting plate 40110 and the linear bearing mounting plate 40113 through the corresponding first linear bearing 40111. The handwheel 40102 is coaxially and fixedly connected to the screw rod 40103. The screw rod 40103 is installed in the first base mounting plate 40101 through the screw rod support seat 40104. One end of the screw rod 40103 passes through the first base mounting plate 40101 and is arranged inside the frame 109 of the cultivation plate precise positioning and conveying mechanism 1, and the end of the screw rod 40103 is coaxially connected to the screw nut 40105. The screw nut 40105 is fixedly installed in the bearing screw integrated mounting plate 40110. Corresponding aluminum profile support legs 40109 are fixedly installed on the sides of the bearing screw integrated mounting plate 40110 and the linear bearing mounting plate 40113. Each aluminum profile support leg 40109 is fixedly installed with a corresponding first horizontal shaft support mounting block 40108. Each first horizontal shaft support mounting block 40108 is fixedly installed with a corresponding first horizontal shaft support 40107. A corresponding adjustment bolt 40106 is also provided at each first horizontal shaft support mounting block 40108 for adjusting the position of the bearing screw integrated mounting plate 40110 or the linear bearing mounting plate 40113 in the vertical direction, so as to realize the movement of the multi-station chain mechanism in the vertical direction.

[0046] The multi-station chain mechanism includes a conveying mechanism mounting plate 40201, a clamping bracket, a second guide post 40203, a second horizontal shaft support 40204, a second horizontal shaft support mounting plate 40205, a second idler wheel 40206, a clamping chain guide rail 40207, a chain guide rail mounting block 40208, a clamping chain 40209, a second driving wheel 40210, a second motor 40211, a second expansion sleeve 40212 and a tensioning wheel 40213; corresponding conveying mechanism mounting plates 40201 are fixedly installed on one side of the frame 109 of the cultivation plate precise positioning conveying mechanism 1; along the conveying direction of the cultivation plate, two second horizontal shaft support mounting plates 40205 are sequentially fixedly installed on the bottom surface of the conveying mechanism mounting plate 40201, and each second guide post 40203 is fixedly installed on the lower surface of the corresponding second horizontal shaft support mounting plate 40205 through the corresponding second horizontal shaft support 40204, and all the second guide posts 40203 are embedded in the corresponding first horizontal shaft supports 40107 of the clamping base; clamping brackets are fixedly installed on two conveying mechanism mounting plates 40201, corresponding clamping chains 40209 are arranged on both side surfaces of the clamping brackets respectively, a second motor 40211 is fixedly installed in each clamping bracket where each clamping chain 40209 is located, the output shaft of each second motor 40211 is coaxially fixed to the corresponding second driving wheel 40210 through the second expansion sleeve 40212, several tensioning wheels 40213 and second idler wheels 40206 are installed in the clamping brackets, each clamping chain 40209 is driven by the corresponding second motor 40211 and the second driving wheel 40210, and each clamping chain 40209 and the corresponding second driving wheel 40210 and several second idler wheels 40206 and tensioning wheels 40213 together form a clamping driving part; a left finger group and a right finger group are alternately installed between the two clamping chains 40209 in sequence, second pins 40202 arranged at intervals are provided on the side of each clamping chain 40209, and an installation hole is formed by a pin connection cover 40301, a pin connection rotating shaft 40302 and a rotating shaft fixing block 40303 at both ends of the left finger group or the right finger group, and the cross beam connection block 40304 of the left finger group or the right finger group is connected to the clamping chain 40209 through the cooperation of the second pin 40202 and the installation hole; the whole of each clamping chain 40209 and the clamping bracket is in a "7" shape, with the opening facing the cultivation plate entrance, and the hydroponic lettuce conveying mechanism 5 is installed on the frame 109 of the cultivation plate precise positioning conveying mechanism 1 below the opening of the clamping bracket. Each clamping chain 40209 is installed with a clamping chain guide rail 40207 in the corresponding clamping bracket through a chain guide rail mounting block 40208 for stably guiding the clamping chain 40209. The clamping chain 40209 of the present invention adopts a roller chain structure, and eight pairs of long pins 40202 are evenly distributed on the roller chain. Both clamping chains 40209 are installed inside the frame of the multi-station chain mechanism through one second driving sprocket 40210, five second idler wheels 40206 and two tensioning wheels 40213.The driving of the two clamping chains 40209 both adopts the direct drive mode of the motor.

[0047] As Figure 8 and Figure 9 shown, the left finger group includes a pin connection cover 40301, a pin connection rotating shaft 40302, a rotating shaft fixing block 40303, a crossbeam connection block 40304, a finger mounting bracket, a left finger assembly and a right finger assembly; the left finger assembly and the right finger assembly are alternately arranged in the finger mounting bracket in sequence, the claw seat of the finger assembly is fixedly connected with the finger mounting bracket, a left finger assembly and a right finger assembly form a finger, both ends of the finger mounting bracket are respectively connected with the corresponding crossbeam connection block 40304, a detachable rotating shaft fixing block 40303 is arranged at the end of each crossbeam connection block 40304, a pin hole is formed between the rotating shaft fixing block 40303 and the end of the crossbeam connection block 40304, a pin connection rotating shaft 40302 is installed in the pin hole, and the pin connection rotating shaft 40302 and the pin connection cover 40301 cooperate to form two connection holes, and the two connection holes are used to cooperate with the second pin 40202 at the clamping chain 40209, so as to realize the angle adjustment between the flexible claw and the clamping chain 40209. The finger mounting bracket includes a 4040 aluminum profile 40305, a 2040 aluminum profile 40307 and a 2020 aluminum profile 40306. The 4040 aluminum profile 40305 functions as a crossbeam, and a crossbeam connection block 40304 is installed at each end, and seven 2040 aluminum profiles 40307 are installed at equal intervals in the middle. A 2020 aluminum profile 40306 is fixed to the head of each 2040 aluminum profile 40307. The T-slot direction of the 2020 aluminum profile 40306 is the same as that of the 4040 aluminum profile 40305. The flexible fingers are installed in the T-slot of the 2020 aluminum profile 40306 and can be adjusted along the slot direction, so as to realize the adjustment of the distance between the left and right flexible fingers of the flexible claw. The right finger group has the same composition as the left finger group, the difference is that the distribution position of the flexible claw is different. Contrary to the left finger group, the flexible claws of the right finger group are arranged from the opposite direction.

[0048] The right finger 40309 is connected to the finger mounting bracket through the right claw seat 40308, and the left finger 40310 is connected to the finger mounting bracket through the left claw seat 40313. The shapes of the right finger 40309 and the left finger 40310 are as Figure 8 shown. The left flexible assembly and the right flexible assembly are symmetrical. Except that the left finger 40310 and the right finger 40309 are symmetrical, the left claw seat 40313 and the right claw seat 40308 are symmetrical, and the left stop block 40317 and the right stop block are symmetrical, the rest of the parts are the same. As Figure 9 of (a) and Figure 9As shown in (b) of , the finger assembly includes a finger, a finger double-rotation shaft 40311, a finger pin shaft 40312, a second bearing 40314, a rotation limit block 40315, a torsion spring 40316, a stop block 40317, a claw seat, a first bolt 40318 and a second bolt 40319; the end of the finger is hinged to one end of the finger double-rotation shaft 40311 through the finger pin shaft 40312, the other end of the finger double-rotation shaft 40311 is installed in the claw seat through the second bearing 40314 and the other end of the finger double-rotation shaft 40311 is connected to the first bolt 40318, and the finger double-rotation shaft 40311 forms a rotating pair with the claw seat through the bearing 40314. Among them, the rotation limit block 40315 is coaxially fixed to the finger double-rotation shaft 40311 through the first bolt 40318; a stop block 40317 is also fixedly installed through a bolt at the mounting surface of the claw seat where the rotation limit block 40315 is located, and the rotation limit block 40315 cooperates with the stop block 40317 to realize the circumferential rotation limit of the finger double-rotation shaft 40311, so that the finger double-rotation shaft 40311 can only rotate a certain angle; the torsion spring 40316 is sleeved on the head of the first bolt 40318, and a second bolt 40319 is also installed at the mounting surface of the claw seat where the rotation limit block 40315 is located, and the two torsion arms of the torsion spring 40316 are respectively press-fitted and fixed to the rotation limit block 40315 and the second bolt 40319. The first bolt is a large bolt and the second bolt is a small bolt.

[0049] As Figure 10As shown in the figure, the left finger group and the right finger group are alternately installed on the long pin shaft 40202 of the clamping chain 40209, forming eight workstations, namely the clamping workstation A, the transfer workstation B, the vegetable unloading workstation C, the no-load workstation D, the no-load workstation E, the no-load workstation F, the no-load workstation G, and the no-load workstation H. The distance between two adjacent workstations is two step distances. The clamping chain 40209 needs to maintain a horizontal state for a certain distance in front of the clamping workstation A, and then realizes the first commutation through an idler wheel, so that it is in a vertical state for a certain distance in the transfer workstation B in this interval; realizes the second commutation through an idler wheel, so that the clamping chain is in a horizontal state for a certain distance again, realizes the third commutation through an idler wheel, so that the clamping chain is in an inclined downward state for a certain distance, and the vegetable unloading workstation C is at the starting point of the inclined line segment interval; realizes the fourth commutation through an idler wheel, so that the clamping chain is in a vertical state for a certain distance again; realizes the fifth commutation through an idler wheel, so that the clamping chain is in a horizontal state for a certain distance again; realizes the sixth commutation through a driving wheel, so that the clamping chain is in a vertical state for a certain distance again; realizes the seventh commutation through an idler wheel, so that the clamping chain is in an inclined downward state for a certain distance again; realizes the eighth commutation through an idler wheel, so that the clamping chain is in a horizontal state for a certain distance again, and the clamping workstation A is at the end of the horizontal line segment interval. The flexible gripper of the finger group maintains a certain angle with the advancing direction of the clamping chain 40209, and this angle can be adjusted by connecting the pin shaft to the rotating shaft 40302, the rotating shaft fixing block 40303, and the crossbeam connecting block 40304. At the clamping workstation A, the flexible gripper performs clamping. The flexible gripper forms a certain angle with the horizontal plane, so that the lettuce 6 is tilted, exposing the roots in the sponge block for the root cutting mechanism to cut; after root cutting, the flexible gripper moves with the clamping chain 40209. When it reaches the vegetable unloading workstation, the angle between the flexible gripper and the horizontal plane increases to the vertical state through idler wheel commutation. At this time, the clamped lettuce plant falls off the gripper by its own gravity and drops onto the hydroponic lettuce conveying mechanism 5.

[0050] As Figure 11 shown, the hydroponic lettuce conveying mechanism 5 includes a lifting mechanism and a belt conveying mechanism; the lifting mechanism is installed on the frame 109 of the cultivation plate precise positioning conveying mechanism 1, and the belt conveying mechanism is installed on the belt conveying mechanism.

[0051] The hydroponic lettuce conveying mechanism 5 further includes a second synchronization mechanism, and the second synchronization mechanism is connected to the belt conveying mechanism for synchronously controlling the lifting movement at both ends of the belt conveying mechanism.

[0052] In this embodiment, the lifting mechanism includes a lifting cylinder 501, a third guide post 502, a second linear bearing 503, a fixing ring 504, a third horizontal shaft support 505, a cylindrical joint 508, and a support bar 509.

[0053] The lifting cylinder 501 is fixedly installed in the conveying mechanism mounting plate 40201. The third guide columns 502 on both sides of the lifting cylinder 501 are also installed in the conveying mechanism mounting plate 40201 through the corresponding second linear bearings 503 and the third horizontal shaft support 505. The piston rod of the lifting cylinder 501 is fixedly connected to the upper support bar 509 through the fixing ring 504 and the cylindrical joint 508. The top of the third guide column 502 is also fixedly connected to the support bar 509, and a belt conveying mechanism is installed on the support bar 509. The belt conveying mechanism includes a third motor, a belt, etc. When the piston rod of the lifting cylinder 501 is fully extended, the belt conveying mechanism is at the highest point, which is used to receive the lettuce falling from the unloading station of the clamping mechanism. The shorter the falling distance, the less damage, and the more reliable the lettuce is in an inverted posture after falling. After the lettuce falls, the piston rod of the lifting cylinder 501 retracts, the belt conveying mechanism returns to the lowest point, and the belt conveying mechanism is restarted for conveying to prevent the lettuce on the belt conveying mechanism from interfering with the clamping mechanism.

[0054] The second synchronization mechanism includes a second synchronization gear 510, a second synchronization rack 511, a rack mounting block 512, a vertical bearing seat 513 and a second gear connecting shaft 514; the corresponding second synchronization racks 511 are arranged at both ends of the belt conveyor mechanism, and the second synchronization rack 511 is placed along the lifting direction, and is installed on the aluminum profile frame (i.e., the clamping frame) of the multi-station chain mechanism through the rack mounting block 512. The second gear connecting shaft 514 is supported by vertical bearing seats 513 installed on the conveying mechanism frame on both sides, and the second synchronization gears 510 are installed at both ends. The second synchronization gear 510 meshes with the corresponding second synchronization rack 511 to form a second gear rack pair. This design can realize the forced synchronous movement of the lifting cylinders 501 on both sides by mechanical coupling, and solve the problem of inconsistent cylinder movement speed caused by factors such as air pressure, load distribution, friction and manufacturing errors.

[0055] The working process of the present invention is as follows: Manually carry the first cultivation plate 110 and the second cultivation plate 111 with hydroponic lettuce and place them at the inlet end of the cultivation plate precise positioning and conveying mechanism 1 as required. The cultivation plate is stuck in the card slot of the limit push bar composed of the push bar 114 and the limit bar 115. Each time a cultivation plate is placed, the positioning detection sensing device 112 will perform a notch detection on the cultivation plate to determine whether the cultivation plate is placed correctly. If it is judged that the cultivation plate is placed incorrectly, the machine will alarm and stop working; otherwise, it will work normally. When the cultivation plate with hydroponic lettuce reaches the working position, the root fixing and removing mechanism 2 starts to work. The finger cylinder 213 equipped with the sponge block clamp fingers 214 clamps the sponge block and the root system of the lettuce plant below the cultivation plate. At this time, the clamp finger group is stationary and has a stepping distance from the clamping station A. After the roots are fixed, the clamping chain starts to move the clamp finger group a stepping distance, that is, to move to the clamping station A, and at this time, the clamping of the lettuce is completed. Due to the inclined arrangement of the flexible fingers, the lettuce is tilted during the contact process between the fingers and the lettuce. At the same time, the left and right flexible fingers are rotated under the action of the torsion spring by the resistance of the lettuce to adjust the opening of the claw, realizing flexible grasping. After the clamping is completed, the root cutting mechanism 3 starts to work. The angle-adjustable cutting mechanism moves towards the lettuce plant under the action of the translation cylinder 323. After moving to the bottom, the tool starts to work for root cutting. The blade extends under the action of the cutting cylinder 30102 and immediately retracts after root cutting, and then the angle-adjustable cutting mechanism returns to the initial position. The clamping chain starts to move the clamp finger group a stepping distance, that is, to the middle of the clamping station A and the transfer station B. At this time, the root-cut lettuce plant has been separated from the cultivation plate and will not affect the movement of the hydroponic lettuce cultivation plate. At the same time, the root fixing and removing mechanism 2 starts to work. Under the action of the single-axis cylinder 205, the finger cylinder 213 rotates downward by a certain angle, and then the clamp fingers of the finger cylinder 213 are loosened, and the sponge block and the root system fall into the trash bin 108. Subsequently, the root fixing and removing mechanism 2 resets and waits for the arrival of the next row of lettuce plants. When the clamp finger group travels a stepping distance to reach the clamping station A, another clamp finger group also reaches the vegetable unloading station C. At this time, the flexible fingers are in a vertical state, and the lettuce plant clamped by the flexible claw falls off the flexible claw under its own gravity and drops onto the belt conveying mechanism of the hydroponic lettuce conveying mechanism 5 in an inverted posture. After the lettuce falls, the piston rod of the lifting cylinder 501 retracts, and the belt conveying mechanism moves to the lowest point. The belt conveying mechanism then starts and conveys the lettuce, avoiding interference between the lettuce on the belt conveying mechanism and the clamp finger group 303 of the clamping mechanism during their respective movements. The cultivation plate with hydroponic lettuce moves, and the next row of lettuce plants enters the working position, starts to repeat the above actions, and cycles continuously.

[0056] Finally, it should be noted that the above embodiments and descriptions are only used to illustrate the technical solutions of the present invention rather than to limit them. Those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced. Without departing from the spirit and scope of the disclosure of the technical solutions of the present invention, they should all be covered by the protection scope of the claims of the present invention.

Claims

1. A plant factory hydroponic lettuce multiple plants continuous harvesting equipment, characterized in that: The invention comprises a cultivation board precise positioning and conveying mechanism (1), a root fixing and removing mechanism (2), a root cutting mechanism (3), a clamping mechanism (4) and a hydroponic lettuce conveying mechanism (5); along the conveying direction of the cultivation board, the cultivation board precise positioning and conveying mechanism (1) is sequentially installed with the hydroponic lettuce conveying mechanism (5) and the clamping mechanism (4); the cultivation board precise positioning and conveying mechanism (1) below the clamping mechanism (4) is installed with the root fixing and removing mechanism (2); the root fixing and removing mechanism (2) is close to the cultivation board A root cutting mechanism (3) is installed in the cultivation board precise positioning and conveying mechanism (1) on the outlet side; the cultivation board is placed on the cultivation board precise positioning and conveying mechanism (1); when the cultivation board is conveyed to the bottom of the clamping mechanism (4), the root fixing and removing mechanism (2) is located under the cultivation board; the root fixing and removing mechanism (2) is used to fix the roots of the hydroponic lettuce and remove the roots of the hydroponic lettuce in the cultivation board; the clamping mechanism (4) is used to clamp the stems and leaves of the hydroponic lettuce and convey them to the hydroponic lettuce conveying mechanism (5).

2. The equipment for continuous harvesting of multiple hydroponic lettuces in a plant factory according to claim 1, characterized in that: The cultivation plate precise positioning conveying mechanism (1) comprises a first motor (101), a first driving sprocket (103), a driving shaft (105), a first bearing seat (106), a trash bin (108), a frame (109), a positioning detection sensor device (112), a push bar (114), a limit bar (115), a conveying chain (116) and a first idler wheel (118); along the conveying direction of the cultivation plate, the top of the frame (109) is sequentially equipped with a hydroponic lettuce conveying mechanism (5) and a clamping mechanism (4), and the frame (109) below the clamping mechanism (4) is A root fixing and removing mechanism (2) is installed in the frame (109), a trash box (108) is installed in the frame (109) below the root fixing and removing mechanism (2), and a root cutting mechanism (3) is installed in the frame (109) near the cultivation plate outlet side of the root fixing and removing mechanism (2); a positioning detection sensor device (112) is installed at the cultivation plate inlet end of the frame (109); a first motor (101) is fixedly installed in the frame (109), a driving shaft (105) is installed in the frame (109) through a first bearing seat (106), and the driving shaft (105) is installed in the frame (109). The axial direction of the shaft (105) is perpendicular to the conveying direction of the cultivation plate, the output shaft of the first motor (101) is coaxially fixedly connected to the driving shaft (105), the two first driving sprockets (103) are coaxially fixedly connected to the corresponding ends of the driving shaft (105), and the frame (109) is also equipped with a plurality of first idler wheels (118) arranged at intervals, each first driving sprocket (103) and the corresponding plurality of first idler wheels (118) are provided with corresponding conveying chains (116) on their outer shells, and the two conveying chains (116) are symmetrically and spaced apart. ) are installed between the two conveyor chains (116) and a plurality of push bars (114) are arranged in parallel and at intervals, each push bar (114) is fixedly installed with a corresponding limit bar (115), and a cultivation board placement space is formed between two adjacent push bars (114) and two conveyor chains (116) for placing the cultivation boards; the first motor (101) drives the driving shaft (105) to rotate, thereby driving the two first driving sprockets (103) to rotate, thereby driving the two conveyor chains (116) and the plurality of first idler wheels (118) to rotate, and finally conveying the cultivation boards placed on the conveyor chains (116).

3. The equipment for continuous harvesting of multiple hydroponic lettuces in a plant factory according to claim 1, characterized in that: The root fixing and removing mechanism (2) comprises a cylinder seat (203), a first joint block (204), a single-axis cylinder (205), a second joint block (206), a third joint block (207), a thrust needle roller bearing (208), a rocker (209), a rotating shaft (210) and root clamping fingers; the two ends of the rotating shaft (210) are respectively connected to the corresponding third joint blocks (207) via corresponding thrust needle roller bearings (208); the axial direction of the rotating shaft (210) is perpendicular to the conveying direction of the cultivation plate; a plurality of root clamping fingers arranged in sequence along the axial direction are fixedly mounted outside the rotating shaft (210), and the root clamping fingers face the entrance of the cultivation plate; each third joint block (207) is precisely positioned with the cultivation plate conveyor The first and second joint blocks (204) are fixedly connected to the cultivation plate precise positioning and conveying mechanism (1), one end of the two rockers (209) is coaxially fixedly connected to the corresponding end of the rotating shaft (210), two single-axis cylinders (205) are fixedly connected to the corresponding first joint blocks (204) through the corresponding cylinder seats (203), each first joint block (204) is fixedly connected to the cultivation plate precise positioning and conveying mechanism (1), the other ends of the two rockers (209) are hinged to the piston rods of the corresponding single-axis cylinders (205) through the corresponding second joint blocks (206), the movement direction of the piston rods of the single-axis cylinders (205) is parallel to the conveying direction of the cultivation plate, and the single-axis cylinders (205) drive the rotating shaft (210) to rotate through the rockers (209), thereby changing the direction of the root clamping fingers.

4. The equipment for continuous harvesting of multiple hydroponic lettuces in a plant factory according to claim 1, characterized in that: The root cutting mechanism (3) comprises a cutter (301), a cutter mounting strip (303), an angle-adjustable cutting mechanism and a first synchronization mechanism; a plurality of cutters (301) arranged in sequence and spaced apart are fixedly mounted in the cutter mounting strip (303); the arrangement direction of the cutters (301) is perpendicular to the conveying direction of the cultivation plate, and the cutters (301) face the entrance of the cultivation plate; the cutter mounting strip (303) is connected to the angle-adjustable cutting mechanism, the angle-adjustable cutting mechanism is connected to the side of the cultivation plate precise positioning conveying mechanism (1), and the execution ends of all the cutters (301) are connected to the first synchronization mechanism.

5. The equipment for continuous harvesting of multiple hydroponic lettuces in a plant factory according to claim 4, characterized in that: The tool (301) comprises a second guide rail (30101), a cutting cylinder (30102), a second slider (30103), a first slider mounting block (30104), a second slider mounting block (30105), a blade mounting block (30108), a tool mounting block (30112), a blade (30110) and a second cylinder mounting block (30111); the tool mounting block (30112) is fixedly connected to the tool mounting bar (303); the cutting cylinder (30102) is fixedly installed in the tool mounting block (30112) via the second cylinder mounting block (30111); a piston rod of the cutting cylinder (30102) is connected to the blade mounting block (30108); and the blade (30110) is fixedly connected to the second cylinder mounting block (30111). The first slider mounting block (30104) is fixedly mounted in the blade mounting block (30108), and the blade (30110) faces the entrance of the cultivation board; the first slider mounting block (30104) is fixedly connected to the tool mounting block (30112) through the second slider mounting block (30105), the second slider (30103) is fixedly connected to the first slider mounting block (30104), the second slider (30103) is slidably mounted in the second guide rail (30101), the direction of the slide groove of the second guide rail (30101) is parallel to the running direction of the piston rod of the cutting cylinder (30102), and the second guide rail (30101) is fixedly connected to the blade mounting block (30108) near one end of the piston rod of the cutting cylinder (30102).

6. The equipment for continuous harvesting of multiple hydroponic lettuces in a plant factory according to claim 4, characterized in that: The angle-adjustable cutting mechanism comprises two angle-adjustable components, each of which comprises a rotating bar (305), an angle-adjusting rod (314), a rotating support (315), a root-cutting mechanism mounting plate (321) and a translation mechanism; corresponding root-cutting mechanism mounting plates (321) are fixedly mounted on both sides of the cultivation plate precise positioning and conveying mechanism (1); each root-cutting mechanism mounting plate (321) is mounted on a corresponding translation mechanism; the two ends of the cutter mounting bar (303) are respectively hinged to one end of the corresponding rotating support (315) through the corresponding rotating bar (305); the other end of the rotating support (315) is fixedly connected to the translation mechanism; the middle of the rotating bar (305) is hinged to one end of the angle-adjusting rod (314); the other end of the angle-adjusting rod (314) is hinged to the translation mechanism (321).

7. The equipment for continuous harvesting of multiple hydroponic lettuces in a plant factory according to claim 1, characterized in that: The clamping mechanism (4) comprises a clamping base, a multi-station chain mechanism, a left clamping finger group and a right clamping finger group. The multi-station chain mechanism is fixedly mounted on the cultivation plate precise positioning and conveying mechanism (1) via the clamping base. The left clamping finger group and the right clamping finger group are alternately mounted in the multi-station chain mechanism in sequence.

8. The equipment for continuous harvesting of multiple hydroponic lettuces in a plant factory according to claim 7, characterized in that: The left gripper finger assembly comprises a left finger assembly and a right finger assembly which are alternately arranged in sequence, wherein one left finger assembly and one right finger assembly form one finger, and the finger assembly comprises a finger, a finger double rotation axis (40311), a finger pin (40312), a second bearing (40314), a rotation limit block (40315), a torsion spring (40316), a stopper (40317), a gripper seat, a first bolt (40318) and a second bolt (40319); the end of the finger is hinged to one end of the finger double rotation axis (40311) through the finger pin (40312), the other end of the finger double rotation axis (40311) is installed in the gripper seat through the second bearing (40314), and the finger double rotation axis (40311) is hinged to the gripper seat through the second bearing (40314). The other end of the shaft (40311) is coaxially fixedly connected to the rotation limit block (40315) through a first bolt (40318); a stopper (40317) is fixedly installed at the mounting surface of the hand claw seat where the rotation limit block (40315) is located, and the rotation limit block (40315) cooperates with the stopper (40317) to achieve circumferential rotation limitation of the finger double rotation axis (40311); a torsion spring (40316) is sleeved on the head of the first bolt (40318), and a second bolt (40319) is also installed at the mounting surface of the hand claw seat where the rotation limit block (40315) is located, and two torsion arms of the torsion spring (40316) are respectively crimped and fixed to the rotation limit block (40315) and the second bolt (40319).

9. The equipment for continuous harvesting of multiple hydroponic lettuces in a plant factory according to claim 7, characterized in that: The multi-station chain mechanism comprises a conveying mechanism mounting plate (40201), a clamping bracket, a second guide column (40203), a second horizontal shaft support (40204), a second horizontal shaft support mounting plate (40205), a second idler wheel (40206), a clamping chain guide rail (40207), a chain guide rail mounting block (40208), a clamping chain (40209), a second driving wheel (40210), a second motor (40211) and a tensioning wheel (40213); a cultivation plate precise positioning conveying mechanism (1) A corresponding conveying mechanism mounting plate (40201) is fixedly mounted on one side; along the conveying direction of the cultivation plate, two second horizontal shaft support mounting plates (40205) are fixedly mounted on the bottom surface of the conveying mechanism mounting plate (40201) in sequence, and each second guide column (40203) is fixedly mounted on the lower surface of the corresponding second horizontal shaft support mounting plate (40205) through a corresponding second horizontal shaft support (40204), and all the second guide columns (40203) are embedded in the clamping base; 2 conveyor A clamping bracket is fixedly installed on the mounting plate (40201), and corresponding clamping chains (40209) are respectively arranged on the two sides of the clamping bracket. A second motor (40211) is fixedly installed in the clamping bracket where each clamping chain (40209) is located. The output shaft of each second motor (40211) is coaxially fixedly connected to the corresponding second driving wheel (40210). A plurality of tensioning wheels (40213) and a second idler wheel (40206) are installed in the clamping bracket. Each clamping chain (40209) is connected by a corresponding The second motor (40211) and the second driving wheel (40210) drive and each clamping chain (40209) and the corresponding second driving wheel (40210) and a plurality of second idle wheels (40206) and a tensioning wheel (40213) together form a clamping drive component; a left clamping finger group and a right clamping finger group are alternately installed between the two clamping chains (40209); a clamping chain guide rail (40207) is installed in the clamping bracket where each clamping chain (40209) is located through a chain guide rail installation block (40208).

10. The equipment for continuous harvesting of multiple hydroponic lettuces in a plant factory according to claim 4, characterized in that: The first synchronization mechanism comprises a first gear connecting shaft (304), a first roller bearing mounting block (306), a first synchronization rack (307), a second roller bearing mounting block (309), a roller bearing (310), a bearing seat mounting block (311), a horizontal bearing seat (312) and a first synchronization gear (313); the execution ends of all the cutters (301) are connected to the first gear connecting shaft (304), the axial direction of the first gear connecting shaft (304) is perpendicular to the conveying direction of the cultivation plate, each end of the first gear connecting shaft (304) is mounted in the corresponding bearing seat mounting block (311) through the corresponding horizontal bearing seat (312), and each end of the first gear connecting shaft (304) is connected to the first gear connecting shaft (304). The end is also coaxially fixedly connected to the corresponding first synchronous gear (313); each first synchronous gear (313) is also provided with a corresponding first synchronous rack (307); each first synchronous gear (313) is meshed with the corresponding first synchronous rack (307) to form a gear rack pair; each bearing seat mounting block (311) is fixedly mounted with a first roller bearing mounting block (306) and a second roller bearing mounting block (309) at the cultivation plate precise positioning conveying mechanism (1) near the cultivation plate outlet side; roller bearings (310) are mounted in the first roller bearing mounting block (306) and the second roller bearing mounting block (309); the roller bearings (310) are used to limit the first synchronous rack (307).

Images