A low-loss synchronous root twisting and harvesting device and method suitable for hydroponic leaf vegetables

Abstract

The application provides a low-loss synchronous root twisting and harvesting device and method suitable for hydroponic leaf vegetables, and relates to the technical field of agricultural machinery equipment, and comprises a first rack, which is provided with a conveying device, a root twisting device, an image acquisition and processing device, a grabbing device, a displacement device and a controller. The root twisting device is located on a root twisting station and comprises a gathering and fixing mechanism, a root twisting displacement mechanism and a root twisting mechanism. The gathering and fixing mechanism is used for clamping, gathering, fixing and twisting the root of the hydroponic leaf vegetable. The root twisting displacement mechanism drives the root twisting mechanism to move vertically up and down from an initial position to a root twisting position. The root twisting mechanism is used for clamping and rotating the root of the hydroponic leaf vegetable. The hydroponic leaf vegetable can be harvested with low loss, and the harvesting quality is improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery and equipment technology, specifically to a low-damage synchronous root-twisting harvesting device and harvesting method suitable for hydroponic leafy vegetables. Background Technology

[0002] Currently, hydroponics is a cultivation method that relies on nutrient solutions to provide water, nutrients, and oxygen. Most of its roots grow directly in the nutrient solution layer, without relying on traditional soil as a growth medium. As a form of soilless cultivation, hydroponics belongs to the substrate-free cultivation type, meaning that the plant roots are not fixed by any solid substrate, but grow directly in nutrient solution or a nutrient-rich, humid air environment.

[0003] A Chinese patent with publication number CN218977352U discloses a harvesting robot for hydroponic vegetables. The harvesting robot includes a frame, a moving component, a robotic arm, a positioning component, a clamping component, a root-cutting component, a first hopper, and a second hopper. The moving component is located at the lower part of the frame, and the robotic arm is mounted on the frame. The clamping component is located at the front end of the robotic arm, and the root-cutting component is located below the clamping component. The positioning component is located on the side of the robotic arm. The first hopper and the second hopper are sequentially located on one side of the frame.

[0004] In operation, the robotic arm of this harvesting robot determines the position of the vegetables through the positioning component, and then the gripping component picks up the vegetables and delivers them to the root-cutting component. For vegetables with fragile and soft leaves, the gripping movement can easily cause damage to the leaves. After the root is cut, the vegetables are put into the second hopper, but the cutting position cannot be precisely controlled, and the cut surface of the blade at the vegetable root is relatively large, which is not conducive to the subsequent storage of the vegetables.

[0005] Regarding the aforementioned technologies, the inventors believe that the combined action of a robotic arm and a clamping and cutting mechanism cannot achieve low-damage harvesting of hydroponic leafy vegetables, thus affecting the harvesting quality of hydroponic leafy vegetables. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides a low-damage synchronous root-twisting harvesting device and method suitable for hydroponic leafy vegetables, enabling efficient and low-damage harvesting of hydroponic leafy vegetables.

[0007] To achieve the above technical objectives, the adopted technical solution is: a low-damage synchronous root-twisting harvesting device suitable for hydroponically grown leafy vegetables, comprising: The first frame is equipped with a conveying device, a root-tightening device, an image acquisition and processing device, a gripping device, a displacement device, and a controller. A conveying device is used to transport harvested hydroponic leafy vegetables to the root-twisting station. A root-twisting device is used to remove the roots of harvested hydroponic leafy vegetables; A gripping device connected to a displacement device is used to pick up hydroponic leafy vegetables that have been twisted and placed in a set position; Image acquisition and processing device is used to acquire information on the height, leaf spread, and gripping position of hydroponic leafy vegetables; The controller is connected to the conveying device, the root-tightening device, the displacement device, the gripping device, and the image acquisition and processing device, respectively. The controller controls the actions of the conveying device, the root-tightening device, the gripping device, and the displacement device. The root-twisting device is located at the root-twisting station and includes a gathering and fixing mechanism, a root-twisting displacement mechanism, and a root-twisting mechanism. The gathering and fixing mechanism is used to clamp, gather, and fix the roots of hydroponic leafy vegetables. The root-twisting displacement mechanism drives the root-twisting mechanism to move vertically up and down from the initial position to the root-twisting position. The root-twisting mechanism is used to clamp and rotate to twist off the roots of hydroponic leafy vegetables.

[0008] The gathering and fixing mechanism of the present invention includes two clamping mechanical claws, a piston and a cylinder. The cylinder pushes the piston to extend and retract to realize the opening and clamping of the two clamping mechanical claws.

[0009] The clamping end of the dual-clamping mechanical claw described in this invention is provided with multiple grooves.

[0010] The root-twisting mechanism of the present invention includes multiple gripping fingers for gripping the roots of hydroponic leafy vegetables, an adjustment mechanism for adjusting the gripping force of the gripping fingers, and a rotation mechanism for controlling the rotation of the gripping fingers to twist off the roots of hydroponic leafy vegetables.

[0011] The adjustment mechanism of the present invention includes a protrusion for clamping the bottom of a finger, a hollow helical gear disk, a hollow rotating shell, and a gear drive assembly. The top surface of the hollow helical gear disk is provided with a helical track, and the bottom or side surface is provided with gears. The hollow rotating shell is driven to rotate by a rotating mechanism. The hollow rotating shell contains the hollow helical gear disk and the gear drive assembly. The gears of the gear drive assembly mesh with the gears on the hollow helical gear disk. A guide groove for mounting and clamping the finger is provided in the circumference of the hollow rotating shell. The protrusion for clamping the finger can be slidably disposed in the helical track.

[0012] The rotating mechanism described in this invention is a gear-driven mechanism.

[0013] The gripping device of this invention includes a helical rotating disk motor, a motor bracket, a helical rotating disk, a linear track disk, and four flexible mechanical fingers. The helical rotating disk motor is fixed at the center of the linear track disk via the motor bracket. Above the linear track disk is a helical rotating disk connected to the drive shaft of the helical rotating disk motor. The centers of the helical rotating disk and the linear track disk coincide. The helical rotating disk has a helical track, and the linear track disk has four straight tracks intersecting in a cross shape. The four flexible mechanical fingers are slidably arranged in a cross pattern within the helical track and the straight tracks. As the helical track rotates, the distance between the flexible mechanical fingers and the center position changes.

[0014] The gripping device of the present invention also includes a pneumatic gripper rotary motor, which is used to control the overall rotation of the gripping device and can adjust the four flexible mechanical fingers to be located at the intersection of the vegetable leaves.

[0015] A method for harvesting hydroponic leafy vegetables using a low-damage synchronous root-twisting harvesting device is disclosed. The specific process is as follows: a conveying device transports the hydroponic leafy vegetables to be harvested to the root-twisting station. During the transport process, an image acquisition and processing device acquires information on the plant height, leaf spread, and gripping position of the hydroponic leafy vegetables. A gathering and fixing mechanism clamps, gathers, and fixes the roots of the hydroponic leafy vegetables. A root-twisting displacement mechanism drives the root-twisting mechanism from the initial position to the root-twisting position. The root-twisting mechanism clamps and rotates to break off the roots of the hydroponic leafy vegetables and then returns to the initial position. The gripping device adjusts the gripping diameter according to the leaf spread information and adjusts the gripping point to be located at the junction of the leaves and vegetables according to the gripping position information. According to the plant height information, the displacement device drives the gripping device to move down to complete the gripping of the hydroponic leafy vegetables and place them in the set position.

[0016] The beneficial effects of this invention are: 1. This invention innovatively proposes a novel method for removing roots from hydroponic leafy vegetables. By adjusting the twisting angle of the gathering and fixing mechanism and the root-twisting mechanism after clamping the roots of the hydroponic leafy vegetables, the roots are twisted off, achieving the purpose of removing the roots. Compared with the existing root-cutting technology, which uses a method of first gathering and then twisting off, the lower leaves are easily cut or mechanically damaged if the operation is not accurate during the knife cutting process. In contrast, the root-twisting method involves clamping and fixing the roots before rotating and twisting off the roots, and the clamping surface is sealed, with almost no contact with the leaves, avoiding leaf damage. Compared with knife cutting, the root-twisting method results in a shrinking cut surface with better sealing, reducing water loss and bacterial invasion. When cutting the roots with a knife, the cut surface is in direct contact with the blade, while the root-twisting method has a smaller contact area between the cut surface and the root-twisting device, resulting in a lower probability of bacterial transmission and facilitating subsequent storage of the leafy vegetables.

[0017] 2. Traditional knife cutting is prone to off-center or slanted cutting due to root sway or positioning errors. The root twisting mechanism uses matching clamping fingers and a hollow helical gear disk. During root twisting, the root passes through the hollow part of the root twisting mechanism, so that the clamping position is located on the central axis of the root. Automatic centering can be achieved without additional calibration, ensuring the stability and consistency of the twisted position.

[0018] 3. The diameter-changing mechanism of the mechanical claw in the gripping device of the present invention is provided with a spiral rotating disk and a linear track fixed disk. The opening diameter of the mechanical claw can be realized by rotating the spiral rotating disk alone. Furthermore, a pneumatic gripper rotating motor is provided above the mechanical claw, which can realize the overall rotation of the mechanical claw. This allows for adjustment of both the diameter and the gripping position of the mechanical claw, simplifying the design of the gripping device and reducing the manufacturing cost of the device.

[0019] 4. The clamping fingers are designed for adjustable clamping force, allowing for automatic adjustment to accommodate roots of different diameters and preventing dry tightening. Furthermore, the force adjustment is achieved through a hollow helical gear disc in conjunction with protrusions on the clamping fingers. During adjustment, the root is not obstructed; it can fall freely from the hollow position without requiring cleaning and will not remain on the tightening station, thus not affecting the tightening mechanism.

[0020] 5. Using the information collected by the image acquisition and processing device as a benchmark, the flexible mechanical gripper is adjusted to harvest hydroponic leafy vegetables at an appropriate height, gripping diameter, and gripping position by analyzing the plant height, leaf spread, and gripping position information of the hydroponic leafy vegetables to be harvested. The gripping device of this invention adjusts the gripping diameter according to the leaf spread to grip the leafy vegetables, reducing gripping damage. When gripping the intersection point of the vegetable leaves by the gripping position information, damage is further reduced. It is suitable for harvesting hydroponic leafy vegetables of different types and shapes at the same time, reducing the degree of damage during harvesting of hydroponic leafy vegetables, improving the harvesting quality of hydroponic leafy vegetables, avoiding adjustments for different types of hydroponic leafy vegetables, and has strong adaptability. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the image acquisition and processing device of the present invention; Figure 3 This is a schematic diagram of the screwing device of the present invention; Figure 4 This is a schematic diagram of the root-tightening device of the present invention. Figure 5 This is a schematic diagram of the gathering and fixing mechanism of the present invention; Figure 6 This is a schematic diagram of the screwing mechanism of the present invention; Figure 7 This is a schematic diagram of the internal structure of the screwing mechanism of the present invention; Figure 8 This is a schematic diagram of the gripping device of the present invention; Figure 9 This is a schematic diagram of the flexible mechanical gripper of the present invention; The diagram is labeled as follows: 1. Image acquisition and processing device; 11. Display screen; 12. Depth camera; 13. Third frame; 2. Hydroponic leafy vegetables; 3. Planting board; 4. Conveying mechanism; 5. Root twisting device; 51. Gathering and fixing mechanism; 511. Two gripping mechanical claws; 5111. Groove; 512. Piston; 513. Cylinder; 52. Root twisting mechanism; 521. Gripping fingers; 5211. Protrusion; 522. Hollow spiral gear disk; 5221. Spiral track; 523. Hollow gear rotating disk; 524. Bevel gear; 525. Small bidirectional motor; 526. Gear motor; 526. Hollow rotating shell; 527. Hollow rotating shell; 5271. Guide groove; 53. Root twisting displacement mechanism; 54. Rotation mechanism. 6. First frame; 7. Gripping device; 71. Second frame; 72. Pneumatic gripper rotary motor; 73. Flexible mechanical gripper; 731. Helical rotary disk; 7311. Helical track; 732. Linear track disk; 7321. Linear track; 733. Flexible mechanical finger; 734. Motor bracket; 735. Helical rotary disk motor; 8. Displacement device. Detailed Implementation

[0022] The preferred embodiments of the invention are given below with reference to the accompanying drawings to illustrate the technical solution of the invention in detail. The corresponding drawings will be provided for detailed explanation of the invention. It should be particularly noted that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit or restrict the invention.

[0023] like Figure 1 As shown, a low-damage synchronous root-twisting harvesting device suitable for hydroponic leafy vegetables is provided, which has a first frame 6, on which a conveying device 4, a root-twisting device 5, an image acquisition and processing device 1, a gripping device 7, a displacement device 8 and a controller are installed; the controller and connecting lines are omitted in the figure, and the control technology used is conventional control technology.

[0024] The conveying device 4 is used to transport the hydroponic leafy vegetables to be harvested to the root twisting station; the harvested hydroponic leafy vegetables 2 are located on the planting plate 3, with the leaves above the planting plate 3 and the roots below the planting plate 3. The conveying can be achieved by roller conveyor, chain conveyor, etc., and can be any existing conveying mechanism that can achieve horizontal transmission.

[0025] The gripping device 7, which is connected to the displacement device 8, is used to pick up the hydroponic leafy vegetables that have been twisted and placed in a set position. The displacement device 8 at the end of the first frame can be any existing displacement mechanism that can move with two degrees of freedom. The displacement device is mainly used to drive the gripping device to move in the up and down direction and the left and right direction, and can adjust the height at which the gripping device picks up the hydroponic leafy vegetables.

[0026] like Figure 2 As shown, the image acquisition and processing device 1 is used to acquire information on the height, leaf spread, and gripping position of hydroponic leafy vegetables, and transmits this information to the controller. The controller then controls the gripping device 7 to operate based on the information. Specifically, a depth camera 12 is mounted above the conveying device 4 using a third frame 13. The depth camera 12 acquires images, and the processor calculates the information from the hydroponic leafy vegetable images. A display screen 11 is also included to display the real-time height and leaf spread information of the hydroponic leafy vegetables.

[0027] The controller is connected to the conveying device 4, the root-tightening device 5, the displacement device 8, the gripping device 7, and the image acquisition and processing device 1. The controller controls the operation of the conveying device 4, the root-tightening device 5, the gripping device 7, and the displacement device 8, mainly through the solenoid valves inside the control device.

[0028] like Figure 4 As shown, the root-twisting device 5 is used to remove the roots of harvested hydroponic leafy vegetables. Located at the root-twisting station, the device includes a gathering and fixing mechanism 51, a root-twisting displacement mechanism 53, and a root-twisting mechanism 52. The gathering and fixing mechanism 51 is used to clamp, gather, and fix the roots of the hydroponic leafy vegetables. This gathering and fixing mechanism 51 can be implemented using a mechanical claw structure, for example... Figure 5 As shown, the gathering and fixing mechanism includes two clamping mechanical claws 511, a piston 512, and a cylinder 513. The cylinder 513 pushes the piston 512 to extend and retract, thereby opening and clamping the two clamping mechanical claws 511. Multiple grooves 5111 are provided at the clamping ends of the two clamping mechanical claws 511 to increase friction and prevent slippage during root twisting. The root twisting displacement mechanism 53 drives the root twisting mechanism 52 to move vertically up and down from the initial position to the root twisting position. The root twisting displacement mechanism 53 can be any type of vertically movable mechanism. The root twisting mechanism 52 is used to clamp and rotate the roots of the hydroponic leafy vegetables to break them. The root twisting mechanism 52 can use a hollow three-clamping mechanism claw in conjunction with the gathering and fixing mechanism 51 to clamp and twist the roots. During the upward movement of the root twisting mechanism 52, the roots of the hydroponic leafy vegetables can pass through the hollow part of the root twisting mechanism 52. Multiple root-twisting mechanisms 52 can be combined with one root-twisting displacement mechanism 53. Four root-twisting mechanisms 52 are evenly spaced on the root-twisting displacement mechanism 53, which can simultaneously twist off and remove the roots of four hydroponic leafy vegetables 2 on the planting board 3.

[0029] The root-twisting mechanism 52 includes multiple gripping fingers 521 for clamping the roots of the hydroponic leafy vegetable 2, an adjustment mechanism for adjusting the gripping force of the gripping fingers 521, and a rotation mechanism for controlling the rotation of the gripping fingers 521 to twist off the roots of the hydroponic leafy vegetable 2. The multiple gripping fingers 521 are controlled by a small bidirectional motor 525 to achieve clamping and releasing.

[0030] Examples of leafy vegetables that can be inserted into a root-twisting device (for leafy vegetables taken from a hydroponic environment, their roots often gather due to nutrient solution immersion, making them easy to insert into the hollow part of the root-twisting device): 1) Hydroponic lettuce has thin and soft roots. In a hydroponic environment, the roots are not supported and are easily broken by external forces. 2) Hydroponic spinach has a single bundle of roots with few branches, so each root can be inserted into a root-twisting device. 3) Hydroponic bok choy: In a hydroponic environment, the root system does not spread out, is relatively concentrated and of moderate length, and is easy to twist. 4) Hydroponic water spinach has long, thin roots that grow in a concentrated manner. The root structure is relatively soft and easy to penetrate the hollow root twisting mechanism.

[0031] like Figure 6 , Figure 7 As shown, to achieve the root passing through the adjustment mechanism, the adjustment mechanism structure includes a protrusion 5211 at the bottom of the gripping finger 521, a hollow spiral gear disk 522, a hollow rotating shell 527, and a gear drive assembly. The top surface of the hollow spiral gear disk 522 is provided with a spiral track 5221, and gears are provided on the bottom or side surface. The hollow rotating shell 527 is driven to rotate by a rotating mechanism. The hollow rotating shell 527 contains the hollow spiral gear disk 522 and the gear drive assembly. The gears of the gear drive assembly mesh with the gears on the hollow spiral gear disk 522. A guide groove 5271 for mounting the gripping finger 521 is provided circumferentially in the hollow rotating shell 527. The guide groove 5271 acts as a linear track and is composed of a linear hole on the top surface and a T-shaped hole on the side wall. The protrusion 5211 gripping the finger 521 can slide within the spiral track 5221, allowing multiple gripping fingers 521 to move synchronously outwards or inwards, thus changing the gripping force, i.e., the gripping diameter. The gear drive assembly in the adjustment mechanism is not limited to the bevel gear meshing (small bidirectional motor 525 + bevel gear 524) shown in the figure, but may also employ, for example, spur gear meshing of a rotating mechanism.

[0032] The rotating mechanism is a gear-driven mechanism, which includes a hollow gear rotating disk 523 and a gear motor 526, such as... Figure 6 , Figure 7 As shown, the gears on the hollow gear rotating disk 523 mesh with the gears mounted on the gear motor 526, which can be achieved by means of... Figure 7The gear structure shown can also be a meshing bevel gear structure. Using a gear drive mechanism, the root space can be avoided.

[0033] The specific operation of root twisting according to the above structure is as follows: During root twisting, the gathering and fixing mechanism 51 operates first to fix the roots of the hydroponic leafy vegetables, preparing for the twisting. Then, the root twisting mechanism 52 moves vertically upward under the drive of the root twisting displacement mechanism 53. When the roots of the hydroponic leafy vegetables enter the hollow part of the root twisting mechanism 52, the small bidirectional motor 525 drives the bevel gear 524 to rotate, which in turn causes the hollow spiral gear disk 522 to rotate, thus clamping the roots of the hydroponic leafy vegetables with the gripping fingers 521. Afterwards, the hollow gear rotating disk 523, driven by the gear motor 526, rotates together with the gripping fingers 521, the hollow spiral gear disk 522, the bevel gear 524, and the small bidirectional motor 525, causing the clamped roots to be twisted off. Finally, the gathering and fixing mechanism 51 loosens the roots of the hydroponic leafy vegetable 2, and the root-twisting mechanism 52, driven by the root-twisting displacement mechanism 53, moves vertically downward to its initial position. The small bidirectional motor 525 drives the bevel gear 524 to rotate in the opposite direction, loosening the broken roots of the hydroponic leafy vegetable 2. The broken roots fall out of the hollow part of the root-twisting mechanism 52 under the action of gravity. Thus, the root-twisting process of the root-twisting device 5 is repeated, realizing the removal of the roots of the hydroponic leafy vegetable. During root twisting, the four gathering and fixing mechanisms 51 and the four root-twisting mechanisms 52 operate synchronously, realizing the simultaneous removal of the roots of the four hydroponic leafy vegetables.

[0034] like Figure 8 , Figure 9 As shown, multiple gripping devices 7 can be set according to the number of hydroponic leafy vegetables and installed on the second frame 71. The second frame 71 can be installed on the first frame 6. The gripping device 7 includes a spiral rotating disk motor 735, a motor bracket 734, a spiral rotating disk 731, a linear track disk 732, and four flexible mechanical fingers 733. The spiral rotating disk motor 735 is fixed to the center of the linear track disk 732 by the motor bracket 734. A spiral rotating disk 731 connected to the drive shaft of the spiral rotating disk motor 735 is set above the linear track disk 732. 1. The spiral rotating disk 731 and the linear track disk 732 are aligned at their centers. The spiral rotating disk 731 has a spiral track 7311, and the linear track disk 732 has four intersecting linear tracks 7321 in a cross shape. Four flexible mechanical fingers 733 are slidably arranged in a cross pattern within the spiral track 7311 and the linear tracks 7321. As the spiral track 7311 rotates, the flexible mechanical fingers 723 move on the linear tracks, changing the distance of the flexible mechanical fingers 733 from the center position, thus adjusting the gripping diameter of the flexible mechanical gripper 73. The flexible mechanical fingers 733 are controlled by an air pump to achieve deformable gripping; this technology is the existing flexible mechanical gripper 73.

[0035] like Figure 9 As shown, the gripping device 7 also includes a pneumatic gripper rotary motor 72, which is used to control the overall rotation of the gripping device 7. The pneumatic gripper rotary motor 72 is controlled by the controller to rotate at a certain angle through gripping information, and the four flexible mechanical fingers 733 are positioned at the intersection of the vegetable leaves.

[0036] like Figure 1 , Figure 4 As shown, taking a row of four hydroponic leafy vegetables as an example, a method for harvesting hydroponic leafy vegetables using a low-damage synchronous root-twisting harvesting device is as follows: (1) The conveying mechanism 4 transports the planting board 3 planted with hydroponic leafy vegetables 2 forward. First, the depth camera 12 in the image acquisition and processing device 1 acquires a top view image of the hydroponic leafy vegetables from above. Through the image processing algorithm, the plant height, leaf spread and grab position information of the leafy vegetables are obtained, and the collected hydroponic leafy vegetable information is displayed on the display screen 11 in real time. (2) As the conveying mechanism transports the plant, at the root-twisting device 5, the roots of the hydroponic leafy vegetable 2 are first clamped, gathered, and fixed by the gathering and fixing mechanism 51 in the root-twisting device 5. The root-twisting mechanism 52 in the root-twisting device 5 starts below the gathering and fixing mechanism 51 and is a certain distance away. After the roots of the hydroponic leafy vegetable 2 are acted upon by the gathering and fixing mechanism 51, the root-twisting displacement mechanism 53 drives the root-twisting mechanism 52 upward towards the gathering and fixing mechanism 51 to the root-removing position of the hydroponic leafy vegetable. During the displacement, the hydroponic... The roots of the leafy greens pass through the hollow part of the root-twisting mechanism 52. Then, the roots of the hydroponic leafy greens 2 are clamped and twisted off by the root-twisting mechanism 52 in the root-twisting device 5, achieving the purpose of removing the roots of the hydroponic leafy greens 2. Finally, the root-twisting displacement mechanism 53 drives the root-twisting mechanism 52, which is holding the twisted-off roots, to move downwards to its initial position. The root-twisting mechanism 52 releases its clamping claws, and the twisted-off roots fall out from the hollow part of the root-twisting mechanism 52 under the action of gravity, completing the twisting off of the roots of the hydroponic leafy greens. The four gathering and fixing mechanisms 51 and the four root-twisting mechanisms in the root-twisting device 5 operate synchronously, allowing the roots of four hydroponic leafy greens to be twisted off simultaneously. (3) After that, the hydroponic leafy vegetables 2 with the roots removed are transported to the gripping position, and the displacement device 8 drives the gripping device 7 to the top of the leafy vegetables. (4) When the gripping device 7 is above the leafy vegetable, the gripping device 7 starts the spiral rotating disk motor 735 to adjust the flexible mechanical fingers 733 to open an appropriate gripping diameter based on the leaf spread information detected by the image acquisition and processing device 1. At the same time, the gripping device 7 starts the air claw rotating motor 72 to control the overall rotation of the flexible mechanical air claw 73 based on the gripping position information detected by the image acquisition and processing device 1, so as to adjust the point where the flexible mechanical air claw 73 falls into the leaf intersection of the hydroponic leafy vegetable 2. The four flexible mechanical air claws 73 of the gripping device 7 are adjusted independently and synchronously according to the different leaf spread and gripping position information of the four leafy vegetables to be gripped. (5) After the flexible mechanical gripper 73 is adjusted, the displacement device drives the gripping device to move down as a whole according to the average height information of the four hydroponic leafy vegetables on the planting board 3 detected by the image acquisition and processing device 1, so that the gripping device is adjusted to a suitable downward height. The four flexible mechanical grippers of the gripping device 7 descend to the same height simultaneously. Then, under the action of the air pump of the flexible mechanical gripper 73, the flexible mechanical gripper 73 in the gripping device completes the gripping of the hydroponic leafy vegetables, and under the action of the displacement device, the four hydroponic leafy vegetables after gripping are placed in a suitable position. The entire harvesting process is repeated in this way.

[0037] The above are merely preferred embodiments of the present invention and are not intended to limit or restrict the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection declared by the present invention.

Claims

1. A low-damage synchronous root-twisting harvesting device suitable for hydroponic leafy vegetables, comprising: The first frame (6) is equipped with a conveying device (4), a root-tightening device (5), an image acquisition and processing device (1), a gripping device (7), a displacement device (8), and a controller; Conveying device (4) is used to transport harvested hydroponic leafy vegetables to the root twisting station; Root-twisting device (5) is used to remove the roots of harvested hydroponic leafy vegetables; A gripping device (7) connected to a displacement device (8) is used to pick up the hydroponic leafy vegetables that have been twisted and placed them in a set position; Image acquisition and processing device (1) is used to acquire information on the height, leaf spread and grasping position of hydroponic leafy vegetables; The controller is connected to the conveying device (4), the root-tightening device (5), the displacement device (8), the gripping device (7), and the image acquisition and processing device (1), respectively. The controller controls the operation of the conveying device (4), the root-tightening device (5), the gripping device (7), and the displacement device (8). Its features are: The root-twisting device (5) is located at the root-twisting station. It includes a gathering and fixing mechanism (51), a root-twisting displacement mechanism (53), and a root-twisting mechanism (52). The gathering and fixing mechanism (51) is used to clamp, gather, and fix the roots of hydroponic leafy vegetables. The root-twisting displacement mechanism (53) drives the root-twisting mechanism (52) to move vertically up and down from the initial position to the root-twisting position. The root-twisting mechanism (52) is used to clamp and rotate to twist off the roots of hydroponic leafy vegetables.

2. The low-damage synchronous root-twisting harvesting device for hydroponically grown leafy vegetables as described in claim 1, characterized in that: The root-twisting mechanism (52) is provided with multiple gripping fingers (521) for gripping the roots of the hydroponic leafy vegetable (2), an adjustment mechanism for adjusting the gripping force of the gripping fingers (521), and a rotation mechanism for controlling the rotation of the gripping fingers (521) to twist off the roots of the hydroponic leafy vegetable (2).

3. The low-damage synchronous root-twisting harvesting device for hydroponic leafy vegetables as described in claim 2, characterized in that: The adjustment mechanism includes a protrusion (5211) at the bottom of the finger (521), a hollow spiral gear disk (522), a hollow rotating shell (527), and a gear drive assembly. The top surface of the hollow spiral gear disk (522) is provided with a spiral track (5221), and the bottom or side surface is provided with gears. The hollow rotating shell (527) is driven to rotate by a rotating mechanism. The hollow rotating shell (527) is provided with a hollow spiral gear disk (522) and a gear drive assembly. The gears of the gear drive assembly mesh with the gears on the hollow spiral gear disk (522). A guide groove (5271) for installing the finger (521) is provided in the circumference of the hollow rotating shell (527). The protrusion (5211) for clamping the finger (521) can be slidably disposed in the spiral track (5221).

4. A low-damage synchronous root-twisting harvesting device suitable for hydroponic leafy vegetables as described in claim 2 or 3, characterized in that: The rotating mechanism is a gear-driven mechanism.

5. The low-damage synchronous root-twisting harvesting device for hydroponic leafy vegetables as described in claim 1, characterized in that: The gripping device (7) includes a spiral rotating disk motor (735), a motor bracket (734), a spiral rotating disk (731), a linear track disk (732), and four flexible mechanical fingers (733). The spiral rotating disk motor (735) is fixed at the center of the linear track disk (732) via the motor bracket (734). Above the linear track disk (732) is a spiral rotating disk (731) connected to the drive shaft of the spiral rotating disk motor (735). The turntable (731) and the linear track disc (732) are aligned at the center. The helical turntable (731) is provided with a helical track (7311), and the linear track disc (732) is provided with four linear tracks (7321) intersecting in a cross shape. Four flexible mechanical fingers (733) are arranged in a cross shape and slide in the helical track (7311) and the linear track (7321). As the helical track (7311) rotates, the distance of the flexible mechanical fingers (733) from the center position changes.

6. The low-damage synchronous root-twisting harvesting device for hydroponically grown leafy vegetables as described in claim 5, characterized in that: The gripping device (7) also includes a pneumatic gripper rotary motor (72), which controls the overall rotation of the gripping device (7) and can adjust the four flexible mechanical fingers (733) to be located at the intersection of the vegetable leaves.

7. The low-damage synchronous root-twisting harvesting device for hydroponic leafy vegetables as described in claim 1, characterized in that: The gathering and fixing mechanism includes two clamping mechanical claws (511), a piston (512) and a cylinder (513). The cylinder (513) pushes the piston (512) to extend and retract to realize the opening and clamping of the two clamping mechanical claws (511).

8. A low-damage synchronous root-twisting harvesting device suitable for hydroponic leafy vegetables as described in claim 7, characterized in that: The clamping end of the two clamping mechanical claws (511) is provided with multiple grooves (5111).

9. A method for harvesting hydroponic leafy vegetables using a low-damage synchronous root-twisting harvesting device as described in claim 1, characterized in that: The conveying device (4) conveys the hydroponic leafy vegetables to be harvested to the root twisting station. During the conveying process, the image acquisition and processing device (1) acquires the plant height, leaf spread and gripping position information of the hydroponic leafy vegetables. The gathering and fixing mechanism (51) clamps, gathers and fixes the roots of the hydroponic leafy vegetables. The root twisting displacement mechanism (53) drives the root twisting mechanism (52) from the initial position to the root twisting position. The root twisting mechanism (52) clamps and rotates to twist off the roots of the hydroponic leafy vegetables (2) and then returns to the initial position. The gripping device (7) adjusts the gripping diameter according to the leaf spread information and adjusts the gripping point to be located at the intersection of the vegetable and leaf according to the gripping position information. The displacement device (8) drives the gripping device (7) to move down to complete the gripping of the hydroponic leafy vegetables (2) and place it in the set position.

Images