A plant factory hydroponic lettuce multiple plants continuous harvesting equipment

Abstract

The present invention discloses a plant factory's equipment for continuous harvesting of multiple hydroponic lettuce plants. Along the conveying direction of the cultivation plate, a hydroponic lettuce conveying mechanism and a clamping mechanism are sequentially installed on the cultivation plate's precise positioning and conveying mechanism. A root fixing and removal mechanism and a root cutting mechanism are also installed in the cultivation plate's precise positioning and conveying mechanism. The cultivation plate is placed on the cultivation plate's precise positioning and conveying mechanism. When the cultivation plate is conveyed below the clamping mechanism, the root fixing and removal mechanism is located below the cultivation plate. The root fixing and removal mechanism is used to fix the roots of the hydroponic lettuce and remove the roots of the hydroponic lettuce from the cultivation plate. The clamping mechanism is used to clamp the stems and leaves of the hydroponic lettuce and convey them to the hydroponic lettuce conveying mechanism. Through the collaborative operation of multiple mechanisms, flexible and adaptive clamping, and multi-station coordinated scheduling, the present invention significantly improves harvesting efficiency and lettuce integrity, making it suitable for large-scale harvesting of high-density hydroponic lettuce.

Description

Technical Field

[0001] The invention relates to a vegetable harvesting device in the field of agricultural engineering, and in particular to equipment for continuously harvesting multiple hydroponic lettuces in a plant factory. Background Art

[0002] With the rapid development of plant factory technology in recent years, hydroponic lettuce has become a key cultivated product in plant factories due to its short growth cycle, stable quality, and high demand. However, significant technical bottlenecks remain in the current harvesting process of hydroponic lettuce, hindering further improvements in plant factory production efficiency and economic viability.

[0003] Currently, the harvesting of hydroponic lettuce mainly relies on manual operations, and workers need to cut and collect mature plants one by one. This traditional method has problems such as high labor intensity, high labor costs, and low efficiency. Especially in large-scale plant factories, frequent manual harvesting cannot meet the needs of high-density, large-scale production. Although some automated harvesting equipment has been proposed, its design is mostly for single-plant harvesting. For example, a robotic arm mobile clamping mechanism is used for clamping, and a cutting mechanism is used to perform root cutting and harvesting operations. This has the disadvantage of low harvesting efficiency. At the same time, existing equipment rarely achieves inverted orientation of the plant after root cutting to prepare for the subsequent removal of abnormal leaves of hydroponic lettuce.

[0004] Therefore, there is an urgent need to develop a continuous harvesting equipment for multiple hydroponic lettuce plants in plant factories, which can improve operating efficiency, reduce production costs, and adapt to high-density factory production needs while ensuring harvesting quality. Summary of the Invention

[0005] In response to the problems and needs existing in the background technology, the purpose of the present invention is to provide a plant factory hydroponic lettuce multiple plants continuous harvesting equipment, which can realize the simultaneous cutting of the roots of multiple hydroponic lettuces at multiple stations, transporting hydroponic lettuces, and directional and orderly unloading of hydroponic lettuces, thereby solving the problems of low efficiency, high labor intensity, and high labor costs of manual harvesting operations.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A plant factory hydroponic lettuce multiple-plant continuous harvesting equipment comprises a cultivation plate precise positioning and conveying mechanism, 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 cultivation plate precise positioning and conveying mechanism is sequentially installed with the hydroponic lettuce conveying mechanism and the clamping mechanism; the cultivation plate precise positioning and conveying mechanism below the clamping mechanism is installed with the root fixing and removing mechanism, and the cultivation plate precise positioning and conveying mechanism near the cultivation plate outlet side is installed with the root cutting mechanism; the cultivation plate is placed on the cultivation plate precise positioning and conveying mechanism, and 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 the hydroponic lettuce and remove the roots of the hydroponic lettuce in the cultivation plate, and the clamping mechanism is used to clamp the stems and leaves of the hydroponic lettuce and convey them to the hydroponic lettuce conveying mechanism.

[0008] The precise positioning and conveying mechanism of the cultivation plate includes a first motor, a first driving sprocket, a driving shaft, a first bearing seat, a trash can, a frame, a positioning detection sensor device, a push bar, a limit bar, a conveying chain and a first idler wheel; along the conveying direction of the cultivation plate, the top of the frame is sequentially installed with a hydroponic lettuce conveying mechanism and a clamping mechanism, a root fixing and removing mechanism is installed in the frame below the clamping mechanism, a trash can is installed in the frame below the root fixing and removing mechanism, and a root cutting mechanism is installed in the frame on the side of the root fixing and removing mechanism close to the cultivation plate outlet; a positioning detection sensor 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, and the axial direction of the driving shaft is aligned with the conveying direction of the cultivation plate. The first motor is vertical, the output shaft of the first motor is coaxially fixed to the driving shaft, the two first driving sprockets are coaxially fixed to the corresponding ends of the driving shaft, and a plurality of first idler wheels are installed in the frame. Each first driving sprocket and the corresponding plurality of first idler wheels are provided with corresponding conveying chains. The two conveying chains are symmetrically and spaced apart. A plurality of parallel and spaced push bars are installed between the two conveying chains. Each push bar is fixedly mounted with a corresponding limit bar. A cultivation board placement space is formed between the two adjacent push bars and the two conveying chains for placing the cultivation board. The first motor drives the driving shaft to rotate, thereby driving the two first driving sprockets to rotate, thereby driving the two conveying chains and the plurality of first idler wheels to rotate, and finally conveying the cultivation board placed on the conveying chain.

[0009] The root fixing and removal mechanism includes a cylinder seat, a first joint block, a single-axis cylinder, a second joint block, a third joint block, a thrust needle roller bearing, a rocker, a rotating shaft and a root clamping finger; the two ends of the rotating shaft are respectively connected to the corresponding third joint block through the corresponding thrust needle roller bearing, 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 in sequence along the axial direction are fixedly installed outside 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 end of the two rockers is coaxially fixedly connected to the corresponding end of the rotating shaft, and the two single-axis cylinders are fixedly connected to the corresponding first joint block through the corresponding cylinder seat, and each first joint block is fixedly connected to the precise positioning and conveying mechanism of the cultivation plate, and the other ends of the two rockers are hinged to the piston rod of the corresponding single-axis cylinder through the corresponding second joint block, and the movement direction of the piston rod of the single-axis cylinder is parallel to the conveying direction of the cultivation plate. The single-axis cylinder drives the rotating shaft to rotate through the rocker, thereby changing the direction of the root clamping finger.

[0010] The positioning detection sensing device includes a detection cylinder, a proximity switch mounting bar, a proximity switch, an elastic bracket and a collision block; the detection cylinder is fixedly mounted on one side of the cultivation board entrance end of the frame, the piston rod of the detection cylinder faces the cultivation board on the cultivation board precise positioning conveying mechanism, the proximity switch mounting bar is fixedly connected to the piston rod of the detection cylinder, and two elastic brackets are also installed in the proximity switch mounting bar. The two elastic brackets are arranged in sequence along the conveying direction of the cultivation board, and one end of each elastic bracket close to the cultivation board precise positioning conveying mechanism is connected to the corresponding collision block, and a corresponding proximity switch is installed in the proximity switch mounting bar near each elastic bracket, and the proximity switch is used to detect the status of the elastic bracket.

[0011] The root cutting mechanism includes a cutter, a cutter mounting bar, an angle-adjustable cutting mechanism and a first synchronization mechanism; a plurality of cutters arranged in sequence and spaced apart are fixedly mounted in the cutter mounting bar, the arrangement direction of the cutters is perpendicular to the conveying direction of the cultivation board, and the cutters face the entrance of the cultivation board; the cutter mounting bar is connected to the angle-adjustable cutting mechanism, the angle-adjustable cutting mechanism is connected to the side of the cultivation board precise positioning and conveying mechanism, the first synchronization mechanism is mounted on the cultivation board precise positioning and conveying mechanism, and the angle-adjustable cutting mechanism is connected to the first synchronization mechanism.

[0012] 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 bar, the cutting cylinder is fixedly mounted 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 mounted in the blade mounting block, and the blade faces the entrance of the cultivation board; the tool mounting bar 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 mounted in the second guide rail, the slide groove direction of the second guide rail is parallel to the running direction of the piston rod of the cutting cylinder, and the second guide rail is fixedly connected to the blade mounting block at one end close to the piston rod of the cutting cylinder.

[0013] The angle-adjustable cutting mechanism includes two angle-adjustable components, each of which includes a rotating bar, an angle adjustment 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, and a corresponding translation mechanism is installed on each root cutting mechanism mounting plate. The two end portions of the tool mounting bar are respectively hinged to one end of the corresponding rotating support through the corresponding rotating bar, and the other end of the rotating support is fixedly connected to the translation mechanism. The middle part of the rotating bar is hinged to one end of the angle adjustment rod, and the other end of the angle adjustment rod is hinged to the translation mechanism.

[0014] The clamping mechanism includes 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 installed on the cultivation board precise positioning and conveying mechanism through the clamping base, and the left clamping finger group and the right clamping finger group are alternately installed in the multi-station chain mechanism in sequence.

[0015] The left finger clamping group includes a left finger assembly and a right finger assembly which are alternately arranged in sequence, and a left finger assembly and a right finger assembly form a finger, and the finger assembly includes a finger, a finger double rotating shaft, a finger pin, a second bearing, a rotation limit 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, and 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 fixed with the rotation limit block through the first bolt; a stop block is also fixedly installed on the mounting surface of the hand claw seat where the rotation limit block is located, and the rotation limit block cooperates with the stop block to realize circumferential rotation limitation of the finger double rotating shaft; the torsion spring is sleeved on the head of the first bolt, and a second bolt is also installed on the mounting surface of the hand claw seat where the rotation limit block is located, and the two torsion arms of the torsion spring are respectively crimped and fixed to the rotation limit block and the second bolt.

[0016] The multi-station chain mechanism includes a conveying mechanism mounting plate, a clamping bracket, a second guide column, a second horizontal shaft support, a second horizontal shaft support mounting plate, a second idler wheel, a clamping chain guide rail, a chain guide rail mounting block, a clamping chain, a second driving wheel, a second motor and a tensioning wheel; a corresponding conveying mechanism mounting plate is fixedly installed on one side of the cultivation plate precise positioning conveying mechanism; along the conveying direction of the cultivation plate, two second horizontal shaft support mounting plates are fixedly installed on the bottom surface of the conveying mechanism mounting plate in sequence, and each second guide column 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 columns are embedded in the clamping base; two conveying plates A clamping bracket is fixedly installed on the feeding mechanism mounting plate, and corresponding clamping chains are respectively provided on both sides of the clamping bracket, and a second motor is fixedly installed in the clamping bracket where each clamping chain is located, and the output shaft of each second motor is coaxially fixedly connected with the corresponding second driving wheel, and a number of tensioning wheels and second idler wheels are installed in the clamping bracket, each clamping chain is driven by the corresponding second motor and second driving wheel, and each clamping chain and the corresponding second driving wheel and a number of second idler wheels and tensioning wheels 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; a clamping chain guide is installed in the clamping bracket where each clamping chain is located through a chain guide mounting block.

[0017] 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 axial direction of the first gear connecting shaft is perpendicular to the conveying direction of the cultivation plate, and each end of the first gear connecting shaft is mounted in the corresponding bearing seat mounting block through the corresponding horizontal bearing seat, and each end of the first gear connecting shaft is also coaxially fixed with the corresponding first synchronization gear, and a corresponding first synchronization rack is also provided at each first synchronization gear, and each first synchronization gear is meshed with the corresponding first synchronization rack to form a gear rack pair, and each bearing seat mounting block is fixedly installed with the first roller bearing mounting block and the second roller bearing mounting block at the cultivation plate precise positioning and conveying mechanism near the cultivation plate outlet side, and roller bearings are installed in the first roller bearing mounting block and the second roller bearing mounting block, and the roller bearings are used to limit the first synchronization rack.

[0018] Each of the root clamping fingers includes a single-hole fixing clamp, a finger cylinder mounting block, a finger cylinder and a sponge block clamping finger; the finger cylinder mounting block is fixedly connected to the rotating shaft through the single-hole fixing clamp, the finger cylinder is fixedly connected to the finger cylinder mounting block, the sponge block clamping finger is fixedly connected to the piston rod of the finger cylinder, and the opening direction of the sponge block clamping finger is toward the entrance of the cultivation board.

[0019] 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 mounted on each root cutting mechanism mounting plate, and each root cutting mechanism mounting plate is also mounted with a first guide rail, on which a first slider is slidably mounted, the sliding base is fixedly mounted on the first slider, the piston rod of the translation cylinder is connected to the sliding base, and a rotating support is fixedly mounted on the sliding base.

[0020] The clamping base includes two adjustable bases, and the two adjustable bases are symmetrically installed on the sides of the cultivation plate precise positioning and conveying mechanism, and 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 screw rod, a screw rod support seat, a screw rod nut, a first horizontal shaft support, a first horizontal shaft support mounting block, a support leg, a bearing screw rod integrated mounting plate, a first linear bearing, a first guide column, a linear bearing mounting plate, and a second base mounting plate; along the conveying direction of the cultivation plate, one side of the cultivation plate precise positioning and conveying mechanism is sequentially provided with a first base mounting plate and a second base mounting plate, the first base mounting plate and the second base mounting plate are connected by a first guide column, a bearing screw rod integrated mounting plate and a linear bearing mounting plate are further provided between the first base mounting plate and the second base mounting plate, and the bearing screw rod integrated mounting plate The plate and the linear bearing mounting plate are arranged parallel and at intervals, and guide column mounting holes are provided in the bearing screw integrated mounting plate and the linear bearing mounting plate, and the first guide column is installed in the guide column mounting holes corresponding to the bearing screw integrated mounting plate and the linear bearing mounting plate through the corresponding first linear bearing; the handwheel is coaxially fixed with the screw, and the screw is installed in the first base mounting plate through the screw support seat, and one end of the 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 screw is coaxially connected with the screw nut, and the screw nut is fixedly installed in the bearing screw integrated mounting plate; corresponding support legs are fixedly installed on the sides of the bearing screw integrated mounting plate and the linear bearing mounting plate, and a corresponding first horizontal shaft support mounting block is fixedly installed on each support leg, and a corresponding first horizontal shaft support mounting block is fixedly installed on each first horizontal shaft support mounting block.

[0021] 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 conveying mechanism, and the belt conveying mechanism is installed on the belt conveying mechanism.

[0022] 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 and lowering movements of both ends of the belt conveying mechanism.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The present invention proposes a new mechanized harvesting strategy, which is different from the conventional "one pick and one release" strategy. It adopts a multi-station operation to implement a continuous harvesting strategy, realizes synchronous root cutting, transportation and unloading of vegetables, and improves work efficiency.

[0025] 2. The precise positioning and conveying mechanism for the cultivation boards designed in the present invention adopts a limit push bar system with a double-chain parallel layout and a gap detection sensor device to ensure the precise position of the cultivation boards, thereby achieving mixed flow and precise conveying of cultivation boards of two specifications.

[0026] 3. The root-holding and removal mechanism designed in this invention uses a finger cylinder to clamp and secure the roots, coordinating the clamping and cutting actions with a rotating shaft pull-down mechanism to remove residual roots. This structure not only assists in clamping and cutting hydroponic lettuce, but also removes and collects residual roots after cutting, cleaning the growing plates and facilitating their subsequent recycling.

[0027] 4. The clamping mechanism designed in the present invention adopts flexible claws, which can passively adjust the opening of the claws according to the size of the plant to achieve flexible clamping.

[0028] 5. The clamping mechanism designed in the present invention adopts a multi-station flexible gripper with a double-chain parallel layout and an adaptive torsion spring structure. Relying on the gravity of the hydroponic lettuce itself, it can realize the simultaneous tilted flexible clamping and gravity unloading of multiple plants. That is, the hydroponic lettuce can be placed in an inverted posture on the hydroponic lettuce conveyor line during the unloading process, which is convenient for operations such as removing abnormal leaves.

[0029] 6. The root cutting mechanism designed in the present invention is equipped with a movable cutting mechanism and a synchronous rack and pinion system to achieve angle adjustment. The clamping mechanism is precisely positioned relative to the cultivation plate, and the conveying mechanism is adjustable in the vertical direction and the conveying direction of the cultivation plate to adapt to the high-precision cutting and harvesting of lettuce at different growth stages or different varieties.

[0030] 7. The root cutting mechanism and hydroponic lettuce conveying mechanism designed in the present invention both adopt mechanical synchronization mechanisms to eliminate the risk of cylinder asynchrony, thereby improving the reliability and stability of the harvesting equipment.

[0031] 8. The hydroponic lettuce conveying mechanism designed in the present invention integrates a lifting belt and a synchronous lifting unit to reduce damage from falling, ensure the lettuce is in an inverted posture and avoid material interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the overall structure of the continuous harvesting equipment for hydroponic lettuce in a plant factory. Figure 1 ;

[0033] Figure 2 This is a structural diagram of the precise positioning and conveying mechanism for the cultivation board;

[0034] Figure 3It is the front view of the root fixing and removal mechanism;

[0035] Figure 4 It is a structural diagram of the root cutting mechanism;

[0036] Figure 5 It is a cross-sectional view of the tool;

[0037] Figure 6 It is a structural diagram of the clamping base;

[0038] Figure 7 It is a structural diagram of a multi-station chain mechanism;

[0039] Figure 8 It is a structural diagram of the left finger clamping group;

[0040] Figure 9 Schematic diagram of the structure of the left flexible finger, where (a) is an exploded view of the left flexible finger and (b) is an axial view of the left flexible finger;

[0041] Figure 10 It is the station distribution diagram of the multi-station chain mechanism;

[0042] Figure 11 It is a structural diagram of the hydroponic lettuce conveying mechanism;

[0043] Figure 12 This is a schematic diagram of the overall structure of the continuous harvesting equipment for hydroponic lettuce in a plant factory. Figure 2 .

[0044] In the figure: 1. Cultivation plate precise positioning and conveying mechanism, 101. First motor, 102. Motor mounting plate, 103. First driving sprocket, 104. First expansion sleeve, 105. Driving shaft, 106. First bearing seat, 107. Bearing seat mounting plate, 108. Trash bin, 109. Rack, 110. First cultivation plate, 111. Second cultivation plate, 112. Positioning detection sensor device, 11201. Detection cylinder, 11202. Proximity switch mounting strip, 11203. Proximity switch, 11204. Switch mounting seat, 11205. Elastic bracket, 11206. Collision block, 113. Guide plate, 114. Push bar, 115. Limit bar, 116. Conveyor chain, 117. Conveyor chain guide rail, 11 8. First idler pulley, 2. Root fixing and removal mechanism, 201. First pin, 202. Saigang 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 sheet, 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 bar, 306, first roller bearing mounting block, 307, first synchronous rack, 308, cylindrical pin, 309, second roller bearing mounting block, 310, roller bearing, 311, bearing seat mounting block, 312, horizontal bearing seat, 313, first synchronous gear, 314, angle adjustment 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, translation cylinder, 4, clamping mechanism, 40101, first base mounting plate, 40102, handwheel, 40103, screw, 40104, screw support seat, 40105, screw nut, 40106, adjusting bolt, 40107, first horizontal shaft support, 40108, first horizontal shaft support mounting block, 40109, aluminum profile support leg, 40110, bearing screw integrated mounting plate, 40111, first linear bearing, 40112, first guide column, 40113, linear bearing mounting plate, 40114, second base mounting plate, 40201, conveying mechanism mounting plate, 40202, second pin,40203, second guide column, 40204, second horizontal shaft support, 40205, second horizontal shaft support mounting plate, 40206, second idler pulley, 40207, clamping chain guide, 40208, chain guide mounting block, 40209, clamping chain, 40210, second driving pulley, 40211, second motor, 40212, second expansion sleeve, 40213, tensioning pulley, 40301, pin connection cover, 40302, pin connection shaft, 40303, shaft fixing block, 40304, beam connection block, 40305, 4040 aluminum profile, 40306, 2020 aluminum profile, 40307, 2040 aluminum profile, 40308, right-hand claw seat, 40309, right-hand Finger, 40310, left finger, 40311, finger double rotation axis, 40312, finger pin, 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 guide column, 503, second linear bearing, 504, fixing 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 DESCRIPTION

[0045] The present invention will be further described below with reference to the accompanying drawings and examples.

[0046] like Figure 1 and Figure 12 As shown, the present invention proposes a plant factory hydroponic lettuce multiple plants continuous harvesting equipment, which 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, the cultivation plate precise positioning and conveying mechanism 1 is sequentially installed with the hydroponic lettuce conveying mechanism 5 and the clamping mechanism 4, and the hydroponic lettuce conveying mechanism 5 and the clamping mechanism 4 are arranged at intervals; the cultivation plate precise positioning and conveying mechanism 1 below the clamping mechanism 4 is installed with the root fixing and removing mechanism 2, and the root cutting mechanism 3, the clamping mechanism 4 and the hydroponic lettuce conveying mechanism 5 are sequentially ... The fixing and removing mechanism 2 is close to the cultivation board outlet side of the cultivation board precise positioning and conveying mechanism 1, and a root cutting mechanism 3 is installed; the cultivation board is placed on the cultivation board precise positioning and conveying mechanism 1, and when each cultivation board is conveyed to the bottom of the clamping mechanism 4, the root fixing and removing mechanism 2 is located under the current cultivation board. The root fixing and removing mechanism 2 is used to fix the roots of multiple hydroponic lettuces in each row and remove the roots and sponge blocks 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.

[0047] like Figure 2As shown, the precise positioning and conveying mechanism 1 for 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 seat 106, a bearing seat mounting plate 107, a trash can 108, a frame 109, a positioning detection sensor device 112, a guide plate 113, a push bar 114, a limit bar 115, a conveyor chain 116, a conveyor chain guide 117 and a first idler wheel 118; along the conveying direction of the cultivation plate, the top of the frame 109 is sequentially installed with a hydroponic lettuce conveying mechanism 5 and a clamping mechanism 4, and a root fixing and removal mechanism 2 is installed in the frame 109 below the clamping mechanism 4, and a trash can 108 is installed in the frame 109 below the root fixing and removal mechanism 2 to collect the roots remaining in the holes of the cultivation plate after cutting. A guide plate 113 is also mounted on the frame 109 above the trash bin 108. This prevents the flexible gripper's fingers from interfering with the growing plates during movement, thereby preventing damage to the equipment. A root cutting mechanism 3 is mounted on the frame 109 near the growing plate exit of the root securing and removal mechanism 2. A positioning sensor 112 is mounted on the growing plate entrance of the frame 109 to detect the placement of the growing plates. The first motor 101 is fixedly mounted in the frame 109 via the motor mounting plate 102, and the first bearing seat 106 is fixedly mounted in the frame 109 via the bearing seat mounting plate 107. The drive shaft 105 is mounted in the frame 109 via a first bearing block 106. The axis of the drive shaft 105 is perpendicular to the conveying direction of the cultivation plates. The output shaft of the first motor 101 is coaxially fixed to the drive shaft 105. The two first drive sprockets 103 are coaxially fixed to the corresponding ends of the drive shaft 105 via corresponding first expansion sleeves 104. The frame 109 also houses several spaced-apart first idler wheels 118. Each first drive sprocket 103 and its corresponding plurality of first idler wheels 118 are fitted with a corresponding conveyor chain 116. Specifically, there are four first idler wheels 118. The two conveyor chains 116 are symmetrically and spaced apart. A conveyor chain guide 117 is provided at the top of the frame 109, running along the conveying direction of the cultivation plates. The conveyor chains 116 are mounted within these guides. Several parallel and spaced push bars 114 are installed between the two conveyor chains 116. The direction of the push bars 114 is perpendicular to the conveying direction of the cultivation board. Each push bar 114 is fixedly mounted with three corresponding limit bars 115 to form a limit push bar. The limit bars 115 are used to limit the position of the cultivation board. A cultivation board placement space is formed between two adjacent push bars 114 and the two conveyor chains 116. Eleven limit push bars are evenly spaced on the conveyor chains 116. By clamping the cultivation board in the slot of the limit push bar, the cultivation board can be accurately transported along the conveyor chain. The first motor 101 drives the driving shaft 105 to rotate, which in turn drives the two first driving sprockets 103 to rotate, thereby driving the two conveyor chains 116 and the several first idler wheels 118 to rotate, ultimately transporting the cultivation board placed on the conveyor chain 116.The outer links of the conveyor chain 116 come in three types: single-sided curved plates with a single hole, single-sided vertical plates with a single hole, and single-sided curved plates with double holes, arranged in a regular pattern. The single-sided curved plates support the cultivation boards, the single-sided vertical plates limit the support boards to prevent them from moving perpendicularly in the conveying direction, and the double-sided curved plates are used to mount limit push bars. The chain guide 117, mounted within the frame 109, supports the conveyor chain 116, keeping the working section of the chain 116 horizontal, ensuring stable and precise conveying of the cultivation boards.

[0048] In actual production, there are two sizes of growing plates, namely a first growing plate 110 and a second growing plate 111. The two growing plates are symmetrical, so each has a semicircular notch. Taking into account the distribution of the holes on the growing plates, the designed harvesting equipment has certain requirements for the positioning of the growing plates. Specifically, both the first growing plate 110 and the second growing plate 111 must be placed on the same side with the semicircular notch. Manually transporting the growing plates to the precise positioning conveying mechanism can lead to errors, so a positioning detection sensor device 112 is required to detect the semicircular notch to determine whether the growing plates are positioned correctly.

[0049] The positioning detection sensor device 112 includes a detection cylinder 11201, a proximity switch mounting strip 11202, a proximity switch 11203, a switch mounting seat 11204, an elastic bracket 11205 and a collision block 11206; the detection cylinder 11201 is fixedly mounted on one side of the cultivation board inlet end of the frame 109, and the piston rod of the detection cylinder 11201 is directed toward the cultivation board to accurately position the cultivation board on the conveying mechanism 1, the proximity switch mounting strip 11202 is fixedly connected to the piston rod of the detection cylinder 11201, and the proximity switch mounting strip 11202 is fixedly connected to the piston rod of the detection cylinder 11201. Two elastic supports 11205 are also installed in 11202. These are spaced apart along the conveying direction of the growing board. Each elastic support 11205 is connected to a corresponding collision block 11206 at one end, near the growing board's precise positioning and conveying mechanism 1. A corresponding proximity switch 11203 is mounted in the proximity switch mounting bar 11202 near each elastic support 11205 via a corresponding switch mounting seat 11204. The proximity switch 11203 detects the status of the elastic support 11205. The other end of each elastic support 11205 has a metal head, which acts as a sensing target. If a gap is detected, the collision block 11206 will not contact the growing board, and the elastic support will remain unresponsive. If no gap is detected, the collision block 11206 will contact the growing board, causing the elastic support to move backward. The proximity switch 11203 detects the metal head and generates a signal. It is necessary to combine the results of this detection and the results of the previous detection of the positioning detection sensor device 112 to judge whether the cultivation board is placed correctly: when the proximity switch 11203 close to the entrance last time did not detect a signal in the gap, and the proximity switch 11203 away from the entrance this time did not detect a gap, it means that the previous cultivation board is placed incorrectly; when the proximity switch 11203 close to the entrance last time did not detect a gap, and the proximity switch 11203 away from the entrance this time detected no signal in the gap, it means that the previous cultivation board is placed correctly; when the proximity switch 11203 close to the entrance last time detected a gap, and the proximity switch 11203 away from the entrance this time did not detect a gap, it means that the previous cultivation board is placed correctly; when the proximity switch 11203 close to the entrance last time detected a gap, and the proximity switch 11203 away from the entrance this time did not detect a gap, it means that the previous cultivation board is placed correctly; when the proximity switch 11203 close to the entrance last time detected a gap, and the proximity switch 11203 away from the entrance this time detected a gap, it means that the previous cultivation board is not placed.

[0050] like Figure 3As shown, the root fixing and removal mechanism 2 includes a first pin 201, a steel 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 a root clamping finger; the two 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 arranged horizontally and the axial direction of the rotating shaft 210 is perpendicular to the conveying direction of the cultivation plate, and a plurality of root clamping fingers arranged in sequence along the axial direction are fixedly installed on the outside of the rotating shaft 210, and the number of root clamping fingers is specifically six. The root clamping fingers are directed toward the entrance of the cultivation plate; each third joint block 207 is fixedly connected to one side of the frame 109 of the cultivation plate precise positioning and conveying mechanism 1, and one end of the two rockers 209 is coaxially fixedly connected to the corresponding end of the rotating shaft 210, and the two single-axis cylinders 205 are fixedly connected to the corresponding first joint blocks 204 through the corresponding cylinder seats 203, wherein the cylinder seat 203 is fixedly connected to the first joint block 204 through the first pin shaft 201 and the steel gasket 202. Each first joint block 204 is fixedly connected to one side of the frame 109 of the cultivation plate precise positioning and conveying mechanism 1, and 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 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 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, thereby changing the direction of the root clamping fingers.

[0051] Each root clamping finger includes a single-hole fixing 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 via the single-hole fixing clamp 211, the finger cylinder 213 is fixedly connected to the finger cylinder mounting block 212, and the sponge block clamping finger 214 is fixedly connected to the piston rod of the finger cylinder 213, and 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 is toward the entrance of the cultivation plate, and the sponge block clamping finger 214 is used to clamp and fix the roots inside 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 placed horizontally, and its fingers are open to prepare to clamp the sponge block for fixation. When the cutting action is completed, the roots and sponge blocks remain in the cultivation holes of the cultivation plate. The piston rod of the uniaxial cylinder 205 retracts, driving the rotating shaft 210 to rotate a certain angle, and the sponge blocks in the cultivation holes are pulled out. Then the finger cylinder 213 opens, and the sponge blocks fall into the trash can 108.

[0052] like Figure 4As shown, the root cutting mechanism 3 includes a cutter 301, a cutter mounting bar 303, a reinforcement plate 302, an angle-adjustable cutting mechanism, and a first synchronization mechanism. The cutter mounting bar 303 is fixedly mounted with several spaced cutters 301. Each cutter 301's cutter mounting block 30112 is securely connected to the cutter mounting bar 303. The cutters 301 are arranged perpendicular to the conveying direction of the growing plate, with the cutter 301 facing the entrance of the growing plate. The six cutters 301 are equidistantly spaced. Because the holes on the growing plate are arranged in an alternating pattern of odd and even positions, the alternating working mechanism of the odd-even cutters enables simultaneous harvesting of multiple lettuce plants at high density. The cutter mounting bar 303 is also provided with a reinforcement plate 302, which has several mounting holes. The bottoms of all cutters 301 are positioned in the corresponding mounting holes. The tool mounting bar 303 is connected to the angle-adjustable cutting mechanism. Specifically, the two ends of the tool mounting bar 303 are hinged to the top of the corresponding rotating support 315 through the corresponding rotating bar 305. The root cutting mechanism mounting plate 321 of the angle-adjustable cutting mechanism is connected to the side of the frame 109 of the cultivation plate precise positioning and conveying mechanism 1. The first synchronization mechanism is installed on the frame 109 of the cultivation plate precise positioning and conveying mechanism 1. The first synchronization rack 307 of the first synchronization mechanism is connected to the sliding base 317 of the translation mechanism of the corresponding angle adjustable component in the angle-adjustable cutting mechanism.

[0053] The angle-adjustable cutting mechanism comprises two angle-adjustable components, each consisting of a rotating bar 305, an angle adjustment 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 either side of the frame 109 of the precise positioning and conveying mechanism 1 for the cultivation plate. Each root cutting mechanism mounting plate 321 is mounted on a corresponding translation mechanism. The two ends of the tool mounting bar 303 are hingedly connected to one end of the corresponding rotating support 315 via the corresponding rotating bar 305. The rotating bar 305 is capable of rotating about a pin. Its center of rotation is precisely located on the geometric extension of the cutting edge of the tool 301 when fully extended. This design ensures highly accurate matching of the angle rotation adjustment process with the tool's operating trajectory. The other end of the rotating support 315 is fixedly connected to the sliding base 317 of the translation mechanism. The middle portion of the rotating bar 305 is hingedly connected to one end of the angle adjustment rod 314, which in turn is hingedly connected to the sliding base 317 of the translation mechanism.

[0054] Because the root cutting mechanism and the clamping mechanism need to be away from the working position when performing the clamping action, the root cutting mechanism enters the working position to perform the cutting action after the clamping mechanism completes the clamping 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 mounted on each root cutting mechanism mounting plate 321, a translation cylinder 323 is mounted 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 also installed with a first guide rail 318, a first slider 316 is slidably mounted on the first guide rail 318, the sliding base 317 is fixedly mounted 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 mounted on the sliding base 317.

[0055] 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 seat mounting block 311, a horizontal bearing seat 312, and a first synchronization gear 313; the axial direction of the first gear connecting shaft 304 is perpendicular to the conveying direction of the cultivation plate, and each end of the first gear connecting shaft 304 is installed in the corresponding bearing seat mounting block 311 through the corresponding horizontal bearing seat 312. Each end of the first gear connecting shaft 304 is also coaxially fixed with the corresponding first synchronization gear 313, and each first synchronization gear 313 is also provided with a corresponding first synchronization rack 307, and one end of the first synchronization rack 307 is hinged to the sliding base 317. Each first synchronous gear 313 meshes with a corresponding first synchronous rack 307 to form a gear-rack pair. The axial direction of the first synchronous rack 307 is parallel to the conveying direction of the cultivation board, while the axial direction of the first gear connecting shaft 304 is perpendicular to the conveying direction of the cultivation board. A first roller bearing mounting block 306 and a second roller bearing mounting block 309 are fixedly mounted on a side of the frame 109 of the cultivation board precise positioning and conveying mechanism 1 near the cultivation board outlet. The first and second roller bearing mounting blocks 306 and 309 are fixedly connected by bolts. Four cylindrical pins 308 are mounted on the second roller bearing mounting block 309, mounted on either side of the first synchronous rack 307, and cooperate with roller bearings 310 to limit the first synchronous rack 307. Roller bearings 310 are mounted in the first and second roller bearing mounting blocks 306 and 309, and are used to limit the other end of the first synchronous rack 307. The first synchronization mechanism can realize the forced synchronous movement of the translation cylinders 323 on both sides through mechanical coupling, thereby solving the problem of inconsistent cylinder movement speed caused by factors such as air pressure, load distribution, friction and manufacturing errors.

[0056] like Figure 5As shown, the 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 sheet 30109, a blade 30110, and a second cylinder mounting block 30111; the tool mounting block 30112 is fixedly connected to the tool mounting bar 303, and the cutting cylinder 301 02 is fixedly mounted in the tool mounting block 30112 through the second cylinder mounting block 30111, and 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 mounted in the blade mounting block 30108, and the blade 30110 faces the entrance of the cultivation board; wherein, in order to enhance the rigidity of the blade, a blade reinforcement sheet 30109 is provided at the connection between the blade 30110 and the blade mounting block 30108. The first slider mounting block 30104 is fixedly connected to the cutter mounting block 30112 via 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 second guide rail 30101 and the cutting cylinder 30102 are arranged above and below each other, with a gap between them. The direction of the slideway of the second guide rail 30101 is parallel to the direction of movement of the piston rod of the cutting cylinder 30102. One end of the second guide rail 30101, near the piston rod of the cutting cylinder 30102, is fixedly connected to the blade mounting block 30108. The cutting cylinder 30102 drives the blade 30110 and also drives the second guide rail 30101. When the cutter 301 is in operation, the piston rod extends, and the blade can only move in one direction under the action of the second slider 30103 and the second guide rail 30101.

[0057] like Figure 7 As shown, the clamping mechanism 4 includes 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 frame 109 of the cultivation plate precise positioning and conveying mechanism 1 through the clamping base, and the left clamping finger group and the right clamping finger group are alternately mounted in the multi-station chain mechanism in sequence through the corresponding second pin shaft 40202.

[0058] like Figure 6As shown, the clamping base includes two adjustable bases, which are symmetrically mounted on the sides 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 mounted on the two adjustable bases. Specifically, the two second guide columns 40203 of the multi-station chain mechanism are mounted in the first horizontal shaft support 40107 of each adjustable base. 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 used. This system includes a screw 40103, a screw support seat 40104, and a screw nut 40105, which together form a precise displacement adjustment mechanism based on a screw pair. The screw drive can achieve movement of the multi-station chain mechanism in the conveying direction. The two adjustable bases have the same structure, including the first base mounting plate 40101, handwheel 40102, screw 40103, screw support seat 40104, screw nut 40105, adjustment bolt 40106, first horizontal shaft support 40107, first horizontal shaft support mounting block 40108, aluminum support leg 40109, bearing screw integrated mounting plate 40110, first linear bearing 40111, first guide column 40112, linear bearing mounting plate 40113 and second base mounting plate 40114 ; Along the conveying direction of the cultivation board, a side surface of the frame 109 of the cultivation board precise positioning and conveying mechanism 1 is sequentially provided with a first base mounting plate 40101 and a second base mounting plate 40114. The first base mounting plate 40101 and the second base mounting plate 40114 are arranged on the lower side of the cultivation board. The first base mounting plate 40101 and the second base mounting plate 40114 are connected by two parallel first guide columns 40112 arranged at intervals up and down. The axial direction of the first guide column 40112 is parallel to the conveying direction of the cultivation board.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 parallel and spaced apart. Guide column mounting holes are provided in the bearing screw integrated mounting plate 40110 and the linear bearing mounting plate 40113. Each first guide column 40112 is installed in the corresponding guide column mounting hole 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 fixed with the screw 40103, and the screw 40103 is installed in the first base mounting plate 40101 through the screw support seat 40104. One end of the screw 40103 passes through the first base mounting plate 40101 and is set on the cultivation plate for precise positioning. The frame 109 of the conveying mechanism 1 is fixed with the end of the screw rod 40103 being coaxially connected with the screw rod nut 40105, and the screw rod nut 40105 is fixedly mounted in the bearing screw rod integrated mounting plate 40110; the sides of the bearing screw rod integrated mounting plate 40110 and the linear bearing mounting plate 40113 are fixedly mounted with corresponding aluminum profile support legs 40109, and each aluminum profile support leg 40109 is fixedly mounted with a corresponding first horizontal shaft support mounting block 40108, and each first horizontal shaft support mounting block 40108 is fixedly mounted with a corresponding first horizontal shaft support 40107, and each first horizontal shaft support mounting block 40108 is also provided with a corresponding adjusting bolt 40106 for adjusting the vertical position of the bearing screw rod integrated mounting plate 40110 or the linear bearing mounting plate 40113, so as to realize the vertical movement of the multi-station chain mechanism.

[0059] The multi-station chain mechanism includes 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 40207, a chain guide 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; the corresponding conveying mechanism mounting plate 40201 is fixedly installed on one side of the frame 109 of the precise positioning conveying mechanism 1 of the cultivation plate; along the conveying direction of the cultivation plate, the two The two 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 the corresponding second horizontal shaft support 40204. All second guide columns 40203 are embedded in the first horizontal shaft support 40107 corresponding to the clamping base; the two conveying mechanism mounting plates 40201 are fixedly mounted with clamping brackets, and the two side surfaces of the clamping brackets are respectively provided with corresponding clamping chains 40209, and the clamping brackets where each clamping chain 40209 is located are fixedly mounted with a second electric The output shaft of each second motor 40211 is coaxially fixedly connected to the corresponding second driving wheel 40210 through a second expansion sleeve 40212. A plurality of tensioning wheels 40213 and a second idler wheel 40206 are installed in the clamping bracket. Each clamping chain 40209 is driven by the corresponding second motor 40211 and the second driving wheel 40210. Each clamping chain 40209, the corresponding second driving wheel 40210, the plurality of second idler wheels 40206 and the tensioning wheel 40213 together form a clamping drive member. A left clamping finger group and a right clamping finger group are alternately installed between the two clamping chains 40209. Each clamping chain 40209 is equipped with spaced-apart second pins 40202 on its sides. Mounting holes are formed at the ends of the left or right clamping finger group, along with the pin connection caps 40301, the pin connection shaft 40302, and the shaft fixing block 40303. The crossbeam connection block 40304 of the left or right clamping finger group is connected to the clamping chain 40209 via the second pins 40202 and the mounting holes. Each clamping chain 40209 and the clamping bracket form a "7" shape, with the opening facing the cultivation board entrance. The hydroponic lettuce conveying mechanism 5 is mounted on the frame 109 of the cultivation board precise positioning conveying mechanism 1, below the clamping bracket opening. A clamping chain guide 40207 is installed in the clamping bracket within each clamping chain 40209 via a chain guide mounting block 40208, providing stable guidance for the clamping chain 40209. The clamping chain 40209 of the present invention adopts a roller chain structure, with eight pairs of second pins 40202 equidistantly distributed on the roller chain. Both clamping chains 40209 are installed inside the frame of the multi-station chain mechanism via a second driving pulley 40210, five second idler pulleys 40206, and two tensioning pulleys 40213.The two clamping chains 40209 are driven by electric motors.

[0060] like Figure 8 and Figure 9 As shown, the left finger group includes a pin connection cover 40301, a pin connection shaft 40302, a shaft fixing block 40303, a beam connection block 40304, a finger mounting frame, 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 frame, the hand claw seat of the finger assembly is fixedly connected to the finger mounting frame, a left finger assembly and a right finger assembly form a finger, the two ends of the finger mounting frame are respectively connected to the corresponding beam connection block 40304, each beam A removable shaft fixing block 40303 is installed at the end of the connecting block 40304. A pin hole is formed between the shaft fixing block 40303 and the end of the crossbeam connecting block 40304. A connecting shaft 40302 is installed in the pin hole. The connecting shaft 40302 and the connecting cover 40301 form two connecting holes. These two connecting holes are used to mate with the second pin 40202 on the clamping chain 40209, allowing the angle between the flexible gripper and the clamping chain 40209 to be adjusted. The finger mounting frame comprises a 4040 aluminum profile 40305, a 2040 aluminum profile 40307, and a 2020 aluminum profile 40306. The 4040 aluminum profile 40305 acts as a crossbeam, with a crossbeam connecting block 40304 installed at each end and seven 2040 aluminum profiles 40307 installed equidistantly in the middle. Each 2040 aluminum profile (40307) has a 2020 aluminum profile (40306) fixed to its head. The T-slots of the 2020 aluminum profile (40306) are oriented in the same direction as the T-slots of the 4040 aluminum profile (40305). The flexible fingers are mounted within the T-slots of the 2020 aluminum profile (40306) and can be adjusted along the slot direction, thereby adjusting the spacing between the left and right flexible fingers of the flexible gripper. The right gripper group is identical to the left gripper group, differing in the placement of the flexible fingers. In contrast to the left gripper group, the right gripper group's flexible fingers are arranged in the opposite direction.

[0061] The right finger 40309 is connected to the finger mounting frame via the right claw seat 40308, and the left finger 40310 is connected to the finger mounting frame via the left claw seat 40313. The shapes of the right finger 40309 and the left finger 40310 are as follows: Figure 8 As shown. The left flexible component is symmetrical to the right flexible component. Except for the symmetry between the left finger 40310 and the right finger 40309, the symmetry between the left claw seat 40313 and the right claw seat 40308, and the symmetry between the left stopper 40317 and the right stopper, the other parts are the same. Figure 9 (a) and Figure 9As shown in (b), the finger assembly includes a finger, a finger double rotating shaft 40311, a finger pin 40312, a second bearing 40314, a rotation limit block 40315, a torsion spring 40316, a stop block 40317, a hand 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 rotating shaft 40311 through the finger pin 40312, the other end of the finger double rotating shaft 40311 is installed in the hand claw seat through the second bearing 40314 and the other end of the finger double rotating shaft 40311 is connected to the first bolt 40318, and the finger double rotating shaft 40311 forms a rotation pair with the hand claw seat through the second bearing 40314, wherein the rotation limit The stopper 40315 is coaxially fixed to the finger dual rotation axis 40311 via a first bolt 40318. A stopper 40317 is also bolted to the gripper mounting surface where the rotation limiter 40315 resides. The rotation limiter 40315 and stopper 40317 cooperate to limit the circumferential rotation of the finger dual rotation axis 40311, restricting its rotation to a certain angle. A torsion spring 40316 is sleeved over the head of the first bolt 40318. A second bolt 40319 is also mounted to the gripper mounting surface where the rotation limiter 40315 resides. The two torsion arms of the torsion spring 40316 are respectively press-fitted to the rotation limiter 40315 and the second bolt 40319. The first bolt is a large bolt, and the second bolt is a small bolt.

[0062] like Figure 10As shown, the left and right gripper finger groups are alternately mounted on the second pin 40202 of the gripper chain 40209, forming eight workstations, namely, gripper station A, transfer station B, unloading station C, empty station D, empty station E, empty station F, empty station G, and empty station H. The distance between two adjacent workstations is two step distances. The clamping chain 40209 needs to maintain a horizontal state for a distance in front of the clamping station A, and then realize the first reversal through the idler wheel, so that it is in a vertical state for a distance to the transfer station B in this interval; realize the second reversal through the idler wheel, so that the clamping chain is in a horizontal state for a distance again, realize the third reversal through the idler wheel, so that the clamping chain is tilted downward for a distance to the starting point of the unloading station C at the oblique segment interval; realize the fourth reversal through the idler wheel, so that the clamping chain is in a vertical state for a distance again; realize the fifth reversal through the idler wheel, so that the clamping chain is in a horizontal state for a distance again; realize the sixth reversal through the driving wheel, so that the clamping chain is in a vertical state for a distance again; realize the seventh reversal through the idler wheel, so that the clamping chain is in a tilted downward state for a distance again; realize the eighth reversal through the idler wheel, so that the clamping chain is in a horizontal state for a distance to the end point of the clamping station A at the horizontal segment interval. The flexible grippers of the gripping finger assembly maintain a fixed angle with respect to the forward direction of the clamping chain 40209. This angle can be adjusted by means of a pin connecting the rotating shaft 40302, the rotating shaft fixing block 40303, and the crossbeam connecting block 40304. At gripping station A, the flexible grippers engage the lettuce 6 at a fixed angle to the horizontal, tilting the lettuce 6 sideways and exposing the roots within the sponge block for the root cutting mechanism to cut. After cutting, the flexible grippers follow the gripping chain 40209. At the unloading station, the idler gear reverses the grippers' angle with the horizontal plane, increasing their angle to a vertical position. At this point, the gripped lettuce plant escapes under its own gravity and falls onto the hydroponic lettuce conveying mechanism 5.

[0063] like Figure 11 As 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.

[0064] The hydroponic lettuce conveying mechanism 5 further includes a second synchronization mechanism, which is connected to the belt conveying mechanism and is used to synchronously control the lifting and lowering movements of both ends of the belt conveying mechanism.

[0065] In this embodiment, the lifting mechanism includes a lifting cylinder 501 , a third guide column 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 .

[0066] The lifting cylinder 501 is fixedly mounted on the conveyor mounting plate 40201. The third guide posts 502 on either side of the lifting cylinder 501 are also mounted on the conveyor mounting plate 40201 via corresponding second linear bearings 503 and third horizontal shaft supports 505. The piston rod of the lifting cylinder 501 is fixedly connected to the upper support bar 509 via a retaining ring 504 and a cylindrical joint 508. The top of the third guide post 502 is also fixedly connected to the support bar 509, on which a belt conveyor mechanism is mounted. The belt conveyor mechanism includes a third motor, a belt, and other components. When the piston rod of the lifting cylinder 501 is fully extended, the belt conveyor mechanism is at its highest point, catching lettuce that falls from the unloading station of the clamping mechanism. The shorter the drop distance, the less damage it causes, and the more reliable it is for the lettuce to be held in an inverted position after falling. After the lettuce falls, the piston rod of the lifting cylinder 501 retracts, and the belt conveyor mechanism returns to its lowest point. The belt conveyor mechanism then restarts to transport the lettuce, preventing interference between the lettuce on the belt conveyor mechanism and the clamping mechanism.

[0067] 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; corresponding second synchronization racks 511 are provided at both ends of the belt conveyor mechanism. 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 on both sides by vertical bearing seats 513 installed on the conveying mechanism frame, and 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 through mechanical coupling, solving the problem of inconsistent cylinder movement speed caused by factors such as air pressure, load distribution, friction and manufacturing errors.

[0068] The working process of the present invention is as follows:

[0069] The first and second growing boards 110, 111, loaded with hydroponic lettuce, are manually placed into the inlet of the precise positioning and conveying mechanism 1 as required. The growing boards are then locked into the slots of the limiting push strips, which consist of a push bar 114 and a limit bar 115. Each time a growing board is placed, the positioning detection sensor 112 detects the board gap to determine if it is correctly placed. If it is incorrectly placed, the machine will alarm and stop; otherwise, it will continue normally. When the growing board loaded with hydroponic lettuce reaches its working position, the root securing and removal mechanism 2 begins operating. The finger cylinder 213, equipped with the sponge block clamping fingers 214, clamps and secures the sponge block and roots of the lettuce plants beneath the growing board. At this point, the clamping finger group is stationary and a step distance from clamping station A. After the roots are secured, the clamping chain begins to move the clamping finger group a step distance, i.e., to clamping station A, completing the clamping of the lettuce. Because the flexible fingers are arranged at an angle, the fingers tilt the lettuce during contact with the lettuce. At the same time, the left and right flexible fingers are subjected to the resistance of the lettuce and rotate to adjust the opening of the claws under the action of the torsion spring to achieve flexible grasping. After the clamping is completed, the root cutting mechanism 3 starts to work. The angle-adjustable cutting mechanism moves toward the lettuce plant under the action of the translation cylinder 323. After moving to the bottom, the tool starts to work to cut the roots. The blade extends out under the action of the cutting cylinder 30102 to cut the roots and then retracts immediately. Then the angle-adjustable cutting mechanism returns to the initial position. The clamping chain starts to move the clamping finger group a step distance, that is, between the clamping station A and the transfer station B. At this time, the lettuce plant whose roots have been cut 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 removal mechanism 2 starts working. Under the action of the uniaxial cylinder 205, the finger cylinder 213 rotates downward by a certain angle, and then the clamping fingers of the finger cylinder 213 are loosened, and the sponge block and the root system fall into the trash can 108. Then the root fixing and removal mechanism 2 is reset, waiting for the arrival of the next row of lettuce plants. When the clamping finger group travels a step distance and reaches the clamping station A, the other clamping finger group also reaches the unloading station C. At this time, the flexible fingers are in a vertical state. The lettuce plants clamped by the flexible claws break away from the flexible claws under their own gravity and fall in an inverted posture onto the belt conveyor mechanism of the hydroponic lettuce conveying mechanism 5. After the lettuce falls, the piston rod of the lifting cylinder 501 retracts, and the belt conveyor mechanism moves to the lowest point. The belt conveyor mechanism restarts and conveys the lettuce, avoiding interference between the lettuce on the belt conveyor mechanism and the clamping finger group of the clamping mechanism during their respective movements. The cultivation plate carrying the hydroponic lettuce moves, and the next row of lettuce plants enters the working position and begins to repeat the previous action, and the cycle continues.

[0070] Finally, it should be noted that the above embodiments and explanations are intended only to illustrate the technical solutions of the present invention and are not intended to limit the present invention. It should be understood by those skilled in the art that modifications or equivalent substitutions to the technical solutions of the present invention may be made without departing from the spirit and scope of the technical solutions disclosed herein, and all such modifications or equivalent substitutions shall be encompassed within the scope of protection of the claims of the present invention.

Claims

1. A plant factory hydroponic lettuce multiple plants continuous harvesting equipment, characterized by: The invention comprises 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, the cultivation plate precise positioning and conveying mechanism (1) is sequentially installed with the hydroponic lettuce conveying mechanism (5) and the clamping mechanism (4); the cultivation plate precise positioning and conveying mechanism (1) below the clamping mechanism (4) is installed with the root fixing and removing mechanism (2), and the root fixing and removing mechanism (2) is close to the cultivation plate. A root cutting mechanism (3) is installed in the cultivation plate precise positioning and conveying mechanism (1) on the outlet side; the cultivation plate is placed on the cultivation plate precise positioning and conveying mechanism (1); when the cultivation plate is conveyed to the bottom of the clamping mechanism (4), the root fixing and removing mechanism (2) is located under the cultivation plate, 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 plate, and 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); 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 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. The left finger gripping 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 dual rotation axis (40311), a finger pin (40312), a second bearing (40314), a rotation limit block (40315), a torsion spring (40316), a stop block (40317), a hand claw seat, a first bolt (40318) and a second bolt (40319); the end of the finger is hinged to one end of the finger dual rotation axis (40311) through the finger pin (40312), and the other end of the finger dual rotation axis (40311) is installed in the hand claw seat through the second bearing (40314), and the finger dual rotation axis (40311) is hinged to the hand claw seat. The other end of the shaft (40311) is coaxially fixedly connected to the rotation limit block (40315) through a first bolt (40318); a stop block (40317) is fixedly installed on 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 stop block (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 on the mounting surface of the hand claw seat where the rotation limit block (40315) is located. 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).

2. The plant factory hydroponic lettuce multiple plants continuous harvesting equipment 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 provided with a plurality of guide rails (114, 115, 116 ... 109) is installed with a root fixing and removing mechanism (2), a trash can (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); the first motor (101) is fixedly installed in the frame (109), the driving shaft (105) is installed in the frame (109) through the 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 fixed to the driving shaft (105), the two first driving sprockets (103) are coaxially fixed 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 a corresponding conveying chain (116) on the outer surface. The two conveying chains (116) are symmetrically and spaced apart. The two conveying chains (116) are arranged symmetrically and spaced apart. ) are installed between a plurality of parallel and spaced push bars (114), 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 board; 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 transporting the cultivation board placed on the conveyor chain (116).

3. The plant factory hydroponic lettuce multiple plants continuous harvesting equipment 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 a root clamping finger; the two ends of the rotating shaft (210) are respectively connected to the corresponding third joint block (207) through the corresponding thrust needle roller bearing (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 installed 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 structure (1) is fixedly connected, one end of the two rockers (209) is coaxially fixedly connected to the corresponding end of the rotating shaft (210), the 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 rod of the corresponding single-axis cylinder (205) through the corresponding second joint blocks (206), the movement direction of the piston rod of the single-axis cylinder (205) is parallel to the conveying direction of the cultivation plate, and the single-axis cylinder (205) drives the rotating shaft (210) to rotate through the rocker (209), thereby changing the direction of the root clamping finger.

4. The plant factory hydroponic lettuce multiple plants continuous harvesting equipment according to claim 1, characterized in that: The root cutting mechanism (3) comprises a cutter (301), a cutter mounting bar (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 bar (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 bar (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 and conveying mechanism (1); the first synchronization mechanism is mounted on the cultivation plate precise positioning and conveying mechanism, and the angle-adjustable cutting mechanism is connected to the first synchronization mechanism.

5. The plant factory hydroponic lettuce multiple plants continuous harvesting equipment 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 mounted in the tool mounting block (30112) via the second cylinder mounting block (30111); the piston rod of the cutting cylinder (30102) is connected to the blade mounting block (30108); the blade (30110) is fixedly mounted in the tool mounting block (30112) via the second cylinder mounting block (30111); the piston rod of the cutting cylinder (30102) is connected to the blade mounting block (30108); and the blade (30111) is fixedly mounted in the tool mounting block (30112). 0110) is fixedly mounted in the blade mounting block (30108), with the blade (30110) facing the cultivation plate entrance; the first slider mounting block (30104) is fixedly connected to the tool mounting block (30112) via 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 sliding groove direction 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 plant factory hydroponic lettuce multiple plants continuous harvesting equipment 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 tool 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.

7. The plant factory hydroponic lettuce multiple plants continuous harvesting equipment according to claim 1, characterized in that: The multi-station chain mechanism includes 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 installed on one side; along the conveying direction of the cultivation plate, two second horizontal shaft support mounting plates (40205) are fixedly installed on the bottom surface of the conveying mechanism mounting plate (40201) in sequence, and each second guide column (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 columns (40203) are embedded in the clamping base; 2 conveyors A clamping bracket is fixedly installed on the mounting plate (40201), and corresponding clamping chains (40209) are respectively provided on both 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), the second driving wheel (40210) drive, and each clamping chain (40209) and the corresponding second driving wheel (40210) and a plurality of second idler wheels (40206), and the 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 mounting block (40208).

8. The plant factory hydroponic lettuce multiple plants continuous harvesting equipment 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 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 also connected to the corresponding first synchronization gear (313). 3) Coaxial fixed connection, 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, and roller bearings (310) are mounted in the first roller bearing mounting block (306) and the second roller bearing mounting block (309), and the roller bearings (310) are used to limit the first synchronous rack (307).

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