Leaf vegetable three-dimensional closed-loop cultivation production system integrating planting, cultivation and harvesting

Abstract

The invention discloses a field planting-cultivation-harvesting integrated leaf vegetable three-dimensional closed-loop cultivation production system which is a closed-loop production line and comprises a field planting area, a three-dimensional cultivation area, a harvesting area, a conveying belt mechanism and at least two sets of mechanical arm working platforms, and the field planting area, the three-dimensional cultivation area and the harvesting area are sequentially connected through the conveying belt mechanism. Cyclic transportation of the planting plates is realized; the manipulator working platform is arranged on the conveyor belt mechanism, and the conveyor belt mechanism and the manipulator working platform cooperatively work to complete continuous actions of the planting plate; according to the closed-loop production line, the planting area serves as the starting point and the ending point, planting plates carrying seedlings are conveyed to the three-dimensional cultivation area through the conveying belt mechanism, then the planting plates carrying vegetables are conveyed to the harvesting area through the conveying belt mechanism, and finally the empty planting plates obtained after harvesting are returned to the planting area through the conveying belt mechanism, so that closed circulation is formed. The whole system adopts a modularized and standardized design concept, and the manufacturing cost, the labor cost and the maintenance cost are reduced while efficient production is ensured.

Description

Technical Field

[0001] This invention belongs to the field of agricultural facilities and automated agricultural equipment technology, and specifically relates to a three-dimensional closed-loop cultivation and production system for leafy vegetables that integrates planting, cultivation and harvesting. Background Technology

[0002] With the development of intelligent and automated agriculture, the factory-style vertical cultivation of leafy vegetables has become an important means to improve the production efficiency of leafy vegetables. At present, the front-end links such as sowing and seedling raising have been initially mechanized and implemented in assembly line operations. However, in the complete factory production of leafy vegetables, the two key processes of "planting" and "harvesting," which are closely integrated with the cultivation racks, still rely heavily on manual labor. Workers need to perform repetitive loading and unloading operations on each layer of cultivation troughs, which not only increases labor intensity and reduces efficiency, but also disrupts the continuity of production, becoming a limiting factor for improving the automation of the factory production line for leafy vegetables.

[0003] To overcome this limitation, the industry has explored different technological approaches. Some research focuses on improving local efficiency by optimizing equipment in specific stages. For example, the plant factory planting tray transportation system developed by South China Agricultural University can achieve a handling efficiency of 500 trays / hour, but the wireless guide vehicle needs to use an additional lifting mechanism to access cultivation troughs on different shelves, increasing operation time. The lettuce handling system developed by Sanan Chemical Industry Co., Ltd. is composed of a shuttle car, a lifting car, and a guide car. Although it can achieve flexible handling of planting trays, the coordination of multiple devices also leads to a significant increase in system complexity and cost.

[0004] Chinese patent document CN103404426A discloses an automated three-dimensional soilless cultivation system, belonging to the field of agricultural production technology. It includes a cultivation system, a liquid replenishment system, and a spray-type liquid supply system. The cultivation system includes a primary cultivation rack on the ground and a secondary cultivation rack suspended above. The secondary cultivation rack has at least two sets of lifting devices at equal intervals to control its vertical movement and an automatic walking device to control its horizontal movement. The lifting devices can adjust the secondary cultivation rack to a suitable height for convenient planting and harvesting; the automatic walking device is controlled by a controller to start at set times, controlling the secondary cultivation rack to move synchronously with the sun. This prior art can minimize light shading in the three-dimensional soilless cultivation mode, ensuring all plants receive sufficient light. It also features a simple structure, low cost, high planting density, is economical and environmentally friendly, clean and hygienic, and easy to manage, making it suitable for large-scale cultivation of various vegetables and flowers. However, this prior art mainly focuses on structural innovation of the cultivation rack itself to improve light conditions, but fails to effectively solve the problem of automated transportation of the planting board.

[0005] In the exploration of systematic production lines, Chinese patent document CN120713055A discloses a plant cultivation system and its usage method. This plant cultivation system includes a planting device and a circulation system arranged around the planting device. The planting device includes a truss and cultivation troughs placed on the truss. The truss is divided into several planting areas according to the crop's growth cycle, and a variable-pitch component is installed in the truss. The circulation system includes a feeding platform, a discharging platform, and a harvesting platform. The feeding platform and discharging platform are respectively located on one side of the planting device for feeding and discharging the cultivation troughs. The harvesting platform is located between the feeding platform and the discharging platform, and its ends are connected to the feeding platform and the discharging platform, forming a circular path for the feeding, discharging, and recycling process. A cleaning machine is installed at the end of the harvesting platform to clean the cultivation troughs. This prior art reduces the waste of planting space and human resources through the automatic variable-pitch design of the cultivation troughs and the automation of the cultivation trough recycling, cleaning, and planting process. Although the system initially achieves cyclical transport of the cultivation trough by integrating the feeding platform, unloading platform, and harvesting platform and constructing a closed loop, this existing technology has to rely on multiple independently driven transfer platforms, lifting mechanisms, and complex mechanical transmission chains to achieve this closed loop. This results in a complex overall structure and numerous control nodes, which in turn increases manufacturing costs and maintenance difficulty, limiting its application in the large-scale production of leafy vegetables.

[0006] In summary, existing technologies for automated transportation in the industrial production of leafy vegetables generally face the following problems: First, the planting and harvesting stages still rely heavily on manual labor, resulting in insufficient automation. Second, even when automation solutions are adopted, complex transmission structures (such as reliance on multiple independent shuttles and elevators), numerous control nodes, or a lack of standardized interfaces for key components (such as planting boards and cultivation troughs) often lead to high system costs, low reliability, and difficult maintenance. Therefore, there is an urgent need in this field for an automated production line with a compact layout, smooth connections, and based on standardized and modular components to achieve seamless integration and efficient, low-cost, minimally staffed operation throughout the entire process from planting to harvesting.

[0007] Therefore, there is an urgent need in this field for an automated production line that is compact in layout, smoothly connected, and can achieve seamless connection from planting to harvesting, in order to systematically solve the problem of automated transportation of planting boards, such as the automation problems of "board loading" and "board unloading", thereby reducing labor and equipment costs while improving the overall efficiency and economy of industrialized production of leafy vegetables. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to provide a leafy vegetable three-dimensional closed-loop cultivation production system integrating planting, cultivation and harvesting. Through the close cooperation of a central control platform, a standardized planting board, a cultivation tank roller guiding structure, a manipulator operation platform and a "mouth"-shaped closed-loop production line, automated operation from planting to harvesting is achieved. It effectively solves the defect of low automation in the planting, handling and harvesting links in the existing factory production of leafy vegetables, especially solves the problem of loading and unloading the planting board in the three-dimensional staggered cultivation system.

[0009] To solve the above technical problems, the technical solution adopted by the present invention is: The leafy vegetable three-dimensional closed-loop cultivation production system integrating planting, cultivation and harvesting is a closed-loop production line, including a planting area, a three-dimensional cultivation area, a harvesting area, a conveyor belt mechanism and at least two sets of manipulator operation platforms. The planting area, the three-dimensional cultivation area and the harvesting area are sequentially connected through the conveyor belt mechanism to realize the circular transportation of the planting board. The manipulator operation platform is arranged on the conveyor belt mechanism, and the conveyor belt mechanism and the manipulator operation platform cooperate to complete the continuous movement of the planting board.

[0010] The starting point and the ending point of the closed-loop production line are the planting area. The planting board carrying seedlings is transported to the three-dimensional cultivation area through the conveyor belt mechanism, and then the planting board carrying vegetables is transported to the harvesting area through the conveyor belt mechanism. Finally, the empty planting board after harvesting is returned to the planting area through the conveyor belt mechanism, thus forming a closed loop.

[0011] Furthermore, it also includes a central control platform. The central control platform is arranged in the harvesting area to control the manipulator operation platform and the conveyor belt mechanism. Through the cooperation of the conveyor belt mechanism and the manipulator operation platform, the continuous actions of taking the board, turning the board, aligning the board and pushing the board of the planting board are completed. The central control platform conducts centralized process control on each electric drive component (conveyor belt motor, drive cylinder of the manipulator operation platform and moving servo mechanism (motor), etc.) in the system, enabling the planting board to automatically flow in the circulation path and the manipulator to accurately complete the loading and unloading operations. For example, when it is detected that there is an excessive accumulation of planting boards in front of a certain cultivation rack, the central control platform will timely adjust the running speed of the main conveyor belt or command the manipulator operation platform to preferentially conduct the harvesting and unloading operation on this cultivation rack to avoid production congestion. Through this intelligent control method, the leafy vegetable three-dimensional closed-loop cultivation production system integrating "planting - cultivation - harvesting" can maximize production efficiency, reduce labor costs and equipment failure rates, and provide an advanced and reliable technical solution for the factory production of leafy vegetables.

[0012] Preferably, the closed-loop production line is in the shape of a "mouth". The "mouth" shape can be a rectangle or a square.

[0013] Preferably, the conveyor belt mechanism includes a main conveyor belt and a lateral conveyor belt, which are connected by a steering mechanism, and the main conveyor belt is connected to the planting area, thus forming a "mouth" shape.

[0014] The conveyor belt mechanism integrates a steering mechanism to jointly form the "mouth" - shaped closed - loop production line. The conveyor belt mechanism specifically includes: a lateral conveyor belt for connecting the planting area and the main conveyor belt; a main conveyor belt as the closed - loop main line, passing through the three - dimensional cultivation area and used for conveying the seedling - carrying planting plates to be put on shelves and the vegetable - carrying planting plates after being taken off the shelves; and a steering mechanism integrated in the main conveyor belt and the lateral conveyor belt, used to change the conveying direction of the planting plates, so as to realize the circulation path of guiding the vegetable - carrying planting plates from the main conveyor belt to the harvesting area and guiding the empty planting plates from the harvesting area back to the planting area.

[0015] Furthermore, the planting area is used for planting leafy vegetables on the planting plates; there are multiple cultivation devices in the three - dimensional cultivation area, and each cultivation device includes a cultivation rack, a hydroponic cultivation tank, and a planting plate supporting the hydroponic cultivation tank, and the hydroponic cultivation tank is arranged on the cultivation rack; the harvesting area is used for harvesting leafy vegetables.

[0016] Furthermore, metal edges are provided around the planting plate, and roller guiding structures are provided on both sides of the hydroponic cultivation tank. The metal edges cooperate with the roller guiding structures to achieve low - friction movement of the planting plate. The edges of the planting plate are made of metal edges to enhance mechanical strength and facilitate grasping.

[0017] Furthermore, each manipulator operation platform includes at least two manipulators, driving cylinders, extension push rods, and vertical lifting rods. Each manipulator is an independently operating opening - and - closing manipulator; the driving cylinders are respectively connected to the extension push rods and the vertical lifting rods. The driving cylinders drive the extension push rods to move left and right, so as to push the planting plate into or out of the hydroponic cultivation tank; the driving cylinders drive the vertical lifting rods to move up and down to adjust the height of the planting plate. The loading and unloading of the planting plate are completed by the manipulator operation platforms deployed on both sides of the system. At least two sets of manipulator operation platforms are provided on both sides of this closed - loop production line. Under the unified scheduling of the central control platform, the opening - and - closing manipulators of the operation platforms achieve clamping actions through internal link mechanisms, and are used to grasp the metal edges on both sides of the planting plate. After grasping and positioning, the extension push rod driven by the driving cylinder extends to provide linear power and accurately push the planting plate into the predetermined hydroponic cultivation tank on the cultivation rack. This coordinated operation of clamping and pushing can accurately execute a series of complex actions such as "taking the plate, turning the plate, aligning the plate, and pushing the plate".

[0018] During the planting and shelving process, after the central control platform sends a command, the robotic arm operating platforms located on both sides of the system first achieve precise positioning through linear guide rails. They can work independently, each facing different cultivation racks, placing planting boards from one end of the cultivation rack and completing the placement of planting boards one by one through relay pushing; or they can work collaboratively, loading planting boards simultaneously from both ends of the same cultivation rack and precisely placing them on different layers of "A"-shaped cultivation racks.

[0019] During the harvesting and unloading process, two robotic arm platforms must be positioned simultaneously at opposite ends of the same cultivation rack to work collaboratively. The robotic arm responsible for unloading the planting boards picks up empty planting boards (sent from the planting area) from the main conveyor belt and pushes them towards the opposite side. The opposing robotic arm then grabs the pushed-out boards and places them onto the conveyor belt for transport to the harvesting area. In this collaborative manner, the two robotic arm platforms systematically remove all planting boards from the cultivation rack and transport them to the harvesting area. This mechanism significantly improves the system's automation and efficiency.

[0020] Preferably, the roller guide structure is an "L"-shaped roller array structure plate, including a number of side rollers and ground rollers, with each side roller and ground roller being vertically connected.

[0021] Preferably, the cultivation rack has an "A" shaped structure, the hydroponic cultivation trough is an integral structure in the length direction, and both ends are provided with slots to facilitate the entry and exit of the planting board.

[0022] Preferably, the groove is rectangular. The rectangular groove is located on both sides of the hydroponic cultivation trough, which facilitates the smooth insertion of the planting plate during robotic operation and avoids mechanical damage to the vegetable roots.

[0023] Preferably, two parallel linear guide rails are provided on both sides of the main conveyor belt, and pulleys are provided at the bottom of the robotic arm working platform. These pulleys are positioned on the two parallel linear guide rails, allowing the robotic arm working platform to move horizontally and be positioned along the linear guide rails. Precision control of the guide rails is a key factor in ensuring the smooth operation of the robotic arm working platform. High-precision linear guide rails can effectively reduce vibration and deviation during operation, thereby ensuring the accuracy of the robotic arm when grasping and placing planting boards.

[0024] Preferably, each robotic arm includes a first gripper and a second gripper, which are connected by a connecting rod to form an opening and closing robotic arm, allowing the first and second grippers to cooperate in gripping the planting board. The first and second grippers of the robotic arm quickly unfold and accurately grasp the metal sealing edges on both sides of the planting board. After successful gripping, a drive cylinder drives an extension push rod to extend, precisely pushing the planting board into the hydroponic cultivation trough, completing the planting and shelving process.

[0025] Compared with existing technologies, the present invention offers the following advantages: This system, with its closed-loop layout and unified robotic arm platform, replaces the commonly used multi-equipment combination mode of shuttle cars, guide cars, and dedicated elevators, reducing initial investment costs and simplifying subsequent maintenance. The combination of standardized planting boards and cultivation troughs with roller guide structures, along with a conveyor belt transport system, enables the robotic arm to efficiently and accurately load, unload, and transfer planting boards across regions, improving the efficiency of the demanding "planting" and "harvesting" stages in vertical cultivation. Simultaneously, the integrated robotic arm platform, aided by lateral guide rails, can move smoothly and accurately on both sides of the cultivation rack. Furthermore, the effective collaboration between the conveyor belt mechanism and the steering mechanism ensures the safety of the planting boards carrying seedlings as they circulate within the system, effectively preventing damage to the seedlings. Under centralized monitoring and process control of the central management platform, only a few operators are needed to manage the entire line, achieving minimally staffed operations. The entire system employs a modular and standardized design concept, which reduces manufacturing, labor, and maintenance costs while ensuring efficient production, providing an economically feasible technical solution for the large-scale promotion of leafy vegetable factory production. Attached Figure Description

[0026] Figure 1 This is a top view of the integrated three-dimensional closed-loop cultivation and production system for leafy vegetables that combines planting, cultivation, and harvesting according to the present invention.

[0027] Figure 2 This is a schematic diagram of the "A"-shaped cultivation rack (loaded with hydroponic cultivation trough and standardized planting board) in the three-dimensional closed-loop cultivation and production system for leafy vegetables that integrates planting, cultivation and harvesting according to the present invention.

[0028] Figure 3 This is a schematic diagram of the hydroponic cultivation trough structure of the integrated three-dimensional closed-loop cultivation and production system for leafy vegetables that combines planting, cultivation and harvesting according to the present invention.

[0029] Figure 4 This is a top view of a standardized planting board for the integrated three-dimensional closed-loop cultivation and production system for leafy vegetables that combines planting, cultivation, and harvesting, as described in this invention.

[0030] Figure 5 This is a schematic diagram of the robotic arm operation platform structure of the integrated three-dimensional closed-loop cultivation and production system for leafy vegetables that combines planting, cultivation and harvesting according to the present invention.

[0031] Figure 6 This is a partial schematic diagram of the conveyor belt mechanism of the integrated three-dimensional closed-loop cultivation and production system for leafy vegetables that combines planting, cultivation, and harvesting, as described in this invention.

[0032] Figure 7 The flowchart shows the process of "picking up the board, rotating the board, aligning the board, and pushing the board" of the three-dimensional closed-loop cultivation and production system for leafy vegetables that integrates planting, cultivation, and harvesting according to the present invention; (a) picking up the board; (b) rotating the board; (c) aligning the board; (d) pushing the board.

[0033] Figure 8 This is a schematic diagram of the planting board operation scene of the integrated three-dimensional closed-loop cultivation and production system for leafy vegetables that combines planting, cultivation and harvesting according to the present invention.

[0034] Figure 9 This is a schematic diagram of the planting board removal operation of the integrated planting-cultivation-harvesting three-dimensional closed-loop cultivation and production system for leafy vegetables of the present invention.

[0035] The components are: 1-Cultivation rack; 2-Hydropower cultivation trough; 201-Roller guide structure; 202-Side rollers; 203-Ground rollers; 204-Rectangular groove; 3-Planting board; 301-Metal edge sealing; 4-Robot operating platform; 401-Robot; 4011-Robot one; 4012-Robot two; 402-Extension push rod; 403-Drive cylinder; 404-Vertical lifting rod; 405-Connecting rod; 5-Harvesting area; 6-Conveyor belt mechanism; 601-Main conveyor belt; 602-Side conveyor belt; 603-Linear running guide rail; 604-Steering mechanism; 7-Planting area; 8-Vertical cultivation area. Detailed Implementation

[0036] The following embodiments, in conjunction with the accompanying drawings, provide a detailed description of the technical solution of the present invention, including the specific structure of each component and their connection and mating relationships. These embodiments are only used to more clearly illustrate the technical solution of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0037] Example: Figure 1 As shown, this integrated three-dimensional closed-loop cultivation and production system for leafy vegetables, encompassing planting, cultivation, and harvesting, is a closed-loop production line. It includes a planting area 7, a three-dimensional cultivation area 8, a harvesting area 5, a conveyor belt mechanism 6, and at least two sets of robotic arm operating platforms 4. The planting area 7, three-dimensional cultivation area 8, and harvesting area 5 are sequentially connected via the conveyor belt mechanism 6, enabling the cyclical transport of the planting board 3. The robotic arm operating platforms 4 are mounted on the conveyor belt mechanism 6, and the conveyor belt mechanism 6 and the robotic arm operating platforms 4 work together to complete the continuous movement of the planting board 3.

[0038] This closed-loop production line starts and ends at the planting area 7. Planting boards 3 carrying seedlings are transported to the vertical cultivation area 8 via the conveyor belt mechanism 6, then to the harvesting area 5 via the same conveyor belt mechanism 6. Finally, the empty planting boards 3 are returned to the planting area 7 via the same conveyor belt mechanism 6, thus forming a closed loop. It also includes a central control platform located in the harvesting area 5. This platform controls the robotic arm platform 4 and the conveyor belt mechanism 6, enabling the conveyor belt mechanism 6 and the robotic arm platform 4 to work together to perform continuous actions of picking up, rotating, aligning, and pushing the planting boards 3. This closed-loop production line is U-shaped. The conveyor belt mechanism 6 includes a main conveyor belt 601 and a side conveyor belt 602, which are connected to the planting area 7 and the harvesting area 5 sequentially via a turning mechanism 604, thus forming a U-shaped layout.

[0039] The system features a central control platform, serving as the core for centralized control and operation of the entire production line. The platform's hardware includes a main control cabinet and a human-machine interface (HMI) located in the harvesting area 5, while the software runs pre-set production process control programs. Its core function lies in integrated drive and centralized monitoring: the platform's controllers (such as programmable logic controllers, PLCs) coordinate the start, stop, and speed of the conveyor belt mechanism 6, the movements of the steering mechanism 604, and the movement, lifting, clamping, and pushing actions of the robotic arm platform 4 according to predetermined programs, ensuring continuous and synchronous operation of each link. Simultaneously, operators can monitor the entire production line status in real time through the HMI, including the position of the planting board, the working status of the robotic arm 401, and equipment alarm information. They can also use the HMI to start or stop production, switch operating modes, or dispatch the robotic arm 401 to designated workstations with a single click. Through this central control platform, only a few operators are needed to achieve comprehensive management and efficient collaboration of the entire "planting, cultivation, and harvesting" process from fixed locations, thus achieving efficient operation with fewer personnel.

[0040] The conveyor belt mechanism 6 integrates a steering mechanism 604, together forming the "U"-shaped closed-loop production line. Specifically, the conveyor belt mechanism 6 includes: a lateral conveyor belt connecting the planting area 7 and the main conveyor belt 601; a main conveyor belt 601 serving as the main closed-loop line, running through the vertical cultivation area 8 and used to transport planting boards 3 carrying seedlings to be shelved and planting boards 3 carrying vegetables after being removed from the shelving; and a steering mechanism 604 integrated into the main conveyor belt 601 and the lateral conveyor belt 602, used to change the conveying direction of the planting boards 3, thereby achieving a circular path that guides the planting boards 3 carrying vegetables from the main conveyor belt 601 to the harvesting area 5, and guides the empty planting boards 3 from the harvesting area 5 back to the planting area.

[0041] The conveyor belt mechanism 6 forms the core of the system's material flow, mainly composed of the main conveyor belt 601, the side conveyor belt 602, the steering mechanism 604, and their basic structural components. Both the main conveyor belt 601 and the side conveyor belt 602 adopt modular belt conveyor units, whose basic structure includes a drive unit consisting of a motor and a reducer, drive rollers, redirecting rollers, support rollers, a ring conveyor belt, and a support frame. The motor starts under the command of the central control platform, driving the conveyor belt through the drive rollers, thereby achieving the linear conveying of the planting board 3. The steering mechanism 604 is located at the intersection of the main conveyor belt 601 and the side conveyor belt 602 (see...). Figure 6 The steering mechanism 604 is used to change the conveying direction of the planting board 3. The steering mechanism 604 employs a reversing platform with guide rollers to ensure that the planting board 3 can smoothly transition from one conveyor belt to another. Furthermore, the linear running guide rails 603 laid along both sides of the main conveyor belt 601 include fixed guide rail bases and sliding sliders, providing a stable guiding foundation for the lateral movement of the robotic arm operating platform 4.

[0042] As another specific implementation, while keeping other structures unchanged, the steering mechanism 604 can also be a specific set of guide baffle structures to ensure that the planting plate 3 can smoothly transition from one conveyor belt to another.

[0043] The planting area 7 is used for planting leafy vegetables on the planting board 3; such as Figure 8 As shown, the three-dimensional cultivation area 8 includes multiple cultivation devices, each including an "A"-shaped cultivation rack 1 and a hydroponic cultivation trough 2 mounted on it. The cultivation rack 1 is typically constructed from metal profiles (such as square tubes or angle steel) connected by welding or bolting, and has a multi-layered load-bearing frame. The hydroponic cultivation trough 2 is a long, narrow trough, which can be made of food-grade plastic (such as PVC) in one piece, forming a nutrient solution flow channel inside. Rectangular openings 204 are provided at both ends to facilitate the entry and exit of the planting plate 3. To ensure smooth movement of the planting plate 3 within the trough with minimal resistance, "L"-shaped roller array structure plates are installed on the inner walls of both sides of the hydroponic cultivation trough 2 as roller guide structures 201. The roller display structure panel is composed of a series of vertically arranged side rollers 202 and horizontally arranged ground rollers 203, which intersect at a 90-degree angle to form a low-friction sliding track. This track works in conjunction with the metal edge banding 301 of the planting panel 3 to ensure that it can be easily pushed in, pushed out, or moved by subsequent panels.

[0044] like Figure 4As shown, the planting plate 3 is the basic carrier for material standardization and mechanical interaction in this system. Its plate body is usually made of a material with light weight and certain strength (such as foamed polystyrene). Planting holes for fixing crops are provided on the planting plate 3 at certain intervals. To enable the reliable grasping of the manipulator 401 and enhance the anti-wear ability of the plate body edge during frequent pushing and pulling, a metal edge 301 is coated on the four edges of the planting plate 3. This metal edge 301 is usually formed by bending an aluminum alloy or stainless steel thin plate, tightly wraps the edge of the plate body, and is fixed by mechanical fastening or bonding methods, which not only provides sufficient structural strength but also forms a standard interface for the gripper of the manipulator 401 and the cooperation with the roller guiding structure 201.

[0045] As Figure 5 , 6 shown, the manipulator operation platform 4 is the key execution mechanism for realizing the automatic handling and loading / unloading of the planting plate. It generally includes a set of vertical lifting mechanisms, at least two sets of independent opening and closing manipulators 401, and a set of horizontal push rod mechanisms, which are arranged on a base platform that can move on a linear running guide rail 603, so that it can move and be positioned along the linear running guide rail 603. Among them, multiple positioning sensors arranged on the linear running guide rail 603 are controlled by the central control platform for positioning. The bottom of the manipulator operation platform 4 is provided with pulleys, which cooperate with the sliders on the linear running guide rail 603 through the pulleys on the base platform and are driven by independent servo motors, enabling precise positioning along the length of the cultivation rack 1. The vertical lifting mechanism consists of a driving cylinder 403 and a vertical lifting rod 404. The vertical lifting rod 404 is a hydraulic lifting rod, and the driving cylinder 403 drives the lifting rod to move up and down to drive the manipulator 401 to adapt to hydroponic cultivation tanks 2 with different heights. Each manipulator 401 includes a gripper one 4011 and a gripper two 4012, which are connected by a connecting rod 405 and are controlled to open and close by the driving cylinder 403. That is, the gripper one 4011 and the gripper two 4012 respectively correspond to a driving cylinder 403, and the two driving cylinders 403 work simultaneously to firmly hold the planting plate 3. The horizontal push rod mechanism consists of an extending push rod 402 and a driving cylinder 403. Among them, the driving cylinder 403 is shared by the vertical lifting mechanism and the horizontal push rod mechanism. Similarly, the horizontal push rod mechanism is driven by the driving cylinder 403 to drive the extending push rod 402 to perform linear reciprocating motion, which is used to smoothly push the aligned planting plate 3 into or out of the hydroponic cultivation tank 2. All the above actions are coordinated and executed in the order of "taking the plate, rotating the plate, aligning the plate, and pushing the plate" under the programmed control of the central management and control platform.

[0046] In addition, in some specific embodiments, the "mouth" shape can be a rectangle or a square.

[0047] The closed-loop production line is equipped with at least two sets of robotic arm operating platforms 4 on both sides, which are uniformly scheduled by the central control platform. The opening and closing robotic arms 401 achieve clamping action through internal connecting rods 405 to grasp the metal sealing edges 301 on both sides of the planting board 3. After completing the grasping and positioning, the extension push rod 402 driven by the drive cylinder 403 extends to provide linear power and accurately push the planting board 3 into the predetermined hydroponic cultivation trough 2 of the cultivation rack 1. This coordinated operation of clamping and pushing can accurately perform a series of complex actions such as "picking up the board, rotating the board, aligning the board, and pushing the board".

[0048] like Figure 8 As shown, in the planting and shelving stage, after the central control platform sends a command, the robotic arm operation platforms 4 located on both sides of the system are first precisely positioned by the linear running guide rail 603. They can work independently, each facing a different cultivation rack 1, placing the planting board 3 from one end of the cultivation rack 1, and completing the placement of the planting board 3 one by one by pushing it in a relay manner; or they can work together, loading the planting board 3 from both ends of the same cultivation rack 1 at the same time, and accurately placing it on the "A"-shaped cultivation rack 1 of different layers.

[0049] like Figure 9 As shown, during the harvesting and unloading process, two sets of robotic arm platforms 4 need to be simultaneously located at opposite ends of the same cultivation rack 1 to perform collaborative operations for removing and lifting planting boards. The robotic arm 401, performing the lifting operation, picks up empty planting boards 3 (sent from the planting area 7 to the conveyor belt) from the main conveyor belt 601 and pushes the planting boards 3 on the cultivation rack 1 to the opposite side. Meanwhile, the opposing robotic arm 401 grabs the pushed-out planting boards 3 and places them onto the conveyor belt for transport to the harvesting area 5. In this collaborative mode, the two sets of robotic arm platforms 4 remove all the planting boards 3 from the cultivation rack 1 layer by layer and place them on the conveyor belt for transport to the harvesting area 5. This mechanism greatly improves the system's automation level and work efficiency.

[0050] The specific operation flow of this integrated closed-loop cultivation and production system for leafy vegetables, encompassing planting, cultivation, and harvesting, is as follows:

[0051] I. Planting and Trellising Stage

[0052] Empty standardized planting boards 3 (with metal edging 301 covering their edges) are transported to the planting area 7 by a lateral conveyor belt 602. After planting, the seedling-laden planting boards 3 re-enter the lateral conveyor belt 602, and after being guided by the steering mechanism 604, enter the main conveyor belt 601. Driven by its drive motor, the main conveyor belt 601 transports the planting boards 3 to a predetermined position near the target cultivation rack 1 within the vertical cultivation area 8.

[0053] The central control platform issues instructions to the robotic arm operating platform 4. Driven by a servo motor, the pulleys at the bottom of this platform move along the linear guide rail 603 to a position precisely aligned with the main conveyor belt 601, ready to perform the loading operation. The loading operation can be carried out in two modes according to the schedule:

[0054] Mode 1: Independent operation and relay push. Specifically, the two robotic arm platforms 4 located on both sides of the cultivation rack 1 can work independently, each facing a different "A"-shaped cultivation rack 1. The robotic arm 401, starting from the same end of the cultivation rack 1, completes the placement of the planting boards 3 one by one through a relay push. The specific action breakdown is as follows:

[0055] Take the board: such as Figure 7 As shown in (a), the vertical lifting rod 404 of the robotic arm working platform 4 is adjusted to a height flush with the main conveyor belt 601 under the action of the drive cylinder 403. Subsequently, the gripper 4011 and gripper 4012 of the robotic arm 401 close under the drive of the connecting rod 405, precisely clamping the metal sealing edges 301 on both sides of the planting plate 3.

[0056] Transfer board: such as Figure 7 As shown in (b), after the robotic arm 401 grips the planting plate 3, the vertical lifting rod 404 lifts it away from the conveyor belt. Then, the robotic arm work platform 4 as a whole or its execution components rotate about 90 degrees so that the planting plate 3 is aligned with the target hydroponic cultivation tank 2 along its length.

[0057] For example: Figure 7 As shown in (c), the robotic arm platform 4 moves horizontally via the linear guide rail 603, fine-tuning its spatial position so that the surface of the planting plate 3 is aligned with the entrance of the target hydroponic cultivation trough 2, ensuring that the metal edge sealing 301 on both sides of the planting plate 3 is accurately aligned with the "L"-shaped roller display structure plate 201 on the hydroponic cultivation trough 2.

[0058] Pushing the planting plate: First, the robotic arm platform 4 moves forward as a whole, feeding the front end of the planting plate 3 into the rectangular slot 204 of the cultivation trough 2 (providing ample space for the planting plate 3 to enter and exit, while avoiding damage to the vegetable roots). Then, the drive cylinder 403 on the platform drives the extension push rod 402 to extend further, providing auxiliary thrust to smoothly push the planting plate 3 into the designated position in the trough along the low-friction track formed by the side rollers 202 and the ground rollers 203. Because all hydroponic cultivation troughs 2 are equipped with "L"-shaped roller array structures, the planting plate 3 in the middle of the hydroponic cultivation trough 2 is handled by the robotic arms 401 on both sides grabbing new planting plates 3 and pushing them out, which is a passive movement.

[0059] After the first planting board 3 is placed, the robotic arm 401 returns to perform the next "board retrieval" action and pushes the next planting board 3 in. This process is repeated, and the subsequent planting boards 3 push the previous planting board 3 to a deeper position inside the hydroponic cultivation tank 2 until the hydroponic cultivation tank 2 is filled.

[0060] Mode 2: Collaborative operation, specifically: two robotic arm work platforms 4 are controlled to move to both ends of the same cultivation rack 1, and simultaneously perform the above-mentioned "picking up the board, aligning the board, and pushing the board" actions from both ends, and load the boards into the same cultivation trough in opposite directions to improve efficiency.

[0061] II. Harvesting and Recovery Stage

[0062] When the leafy greens mature, the central control platform issues a harvesting command. Two robotic arm platforms 4, located at either end of the target cultivation rack 1, move to their designated positions and work collaboratively using a "top-and-pick" relay mode.

[0063] Preparation: At end A, the robotic arm 401 picks up a new planting board with seedlings from the main conveyor belt 601 and adjusts it to the corresponding height of the layer to be harvested using the vertical lifting rod 404. At end B, the robotic arm 401 moves unloaded to the opposite outlet side of the same hydroponic cultivation trough 2.

[0064] Ejection: The robotic arm 401 at end A performs a "plate alignment" action, precisely aligning the seedling-laden planting plate 3 it holds with the entrance of the target cultivation trough filled with mature leafy vegetables. Subsequently, the drive cylinder 403 drives the extension push rod 402 to push the new planting plate into the trough along the roller guide structure 201. The thrust generated by the new plate entering pushes the existing old planting plate 3, which is filled with mature leafy vegetables, out of the trough at an equal distance towards the opposite exit.

[0065] Grabbing and Unloading: Simultaneously, the robotic arm 401 at end B accurately grabs the metal sealing edges 301 on both sides of the old planting board 3 that has been pushed out, achieving aerial handover. The robotic arm 401 at end B then lifts the planting board 3 so that it is completely separated from the roller guide structure 201, rotates it and places it on the main conveyor belt 601.

[0066] Diversion and recycling: The old planting boards loaded with vegetables are sent to the harvesting area 5 via the main conveyor belt 601, the turning mechanism 604, and the side conveyor belt 602. After the leafy vegetables are harvested, the empty planting boards 3 are put back on the side conveyor belt 602 and return to the planting area 7 along the same path, completing the cycle.

[0067] Entering the next growth cycle: At this time, the seedling-carrying planting plate 3 pushed in by the robotic arm 401 at end A has occupied the original vegetable planting plate 3 in the hydroponic cultivation trough 2. The two robotic arm operation platforms 4 then descend or rise to the next harvesting layer under the command of the central control platform, repeating the above "top-remove" process until all the mature leafy vegetable planting plates 3 are removed from the shelves.

[0068] Empty board transportation: In harvesting area 5, after the leafy vegetables are harvested, the empty planting boards 3 are placed back onto the conveyor belt mechanism 6. These empty planting boards 3 are automatically transported back to planting area 7 via side conveyor belt 602, turning mechanism 604 and main conveyor belt 601, waiting for the next round of cleaning and planting operations, thus completing a complete production cycle and realizing uninterrupted continuous production under the "U" shaped layout.

[0069] For those skilled in the art, the specific embodiments are merely illustrative descriptions of the present invention. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A three-dimensional closed-loop cultivation and production system for leafy vegetables integrating planting, cultivation, and harvesting, characterized in that, The system is a closed-loop production line, including a planting area, a three-dimensional cultivation area, a harvesting area, a conveyor belt mechanism and at least two manipulator working platforms. The planting area, the three-dimensional cultivation area and the harvesting area are sequentially connected through the conveyor belt mechanism to realize the circular transportation of the planting plates. The manipulator working platforms are arranged on the conveyor belt mechanism, and the conveyor belt mechanism and the manipulator working platforms cooperate to complete the continuous actions of the planting plates. Taking the planting area as the starting point and the ending point, the closed-loop production line transports the planting plates carrying seedlings to the three-dimensional cultivation area through the conveyor belt mechanism, then transports the planting plates carrying vegetables to the harvesting area through the conveyor belt mechanism, and finally returns the empty planting plates after harvesting to the planting area through the conveyor belt mechanism, thus forming a closed loop.

2. The integrated closed-loop cultivation and production system for leafy vegetables, encompassing planting, cultivation, and harvesting, as described in claim 1, is characterized in that... It further includes a central control platform which is arranged in the harvesting area to control the manipulator working platforms and the conveyor belt mechanism, and through the cooperation of the conveyor belt mechanism and the manipulator working platforms, it completes the continuous actions of plate picking, plate turning, plate alignment and plate pushing of the planting plates.

3. The integrated three-dimensional closed-loop cultivation and production system for leafy vegetables, comprising planting, cultivation, and harvesting, as described in claim 2, is characterized in that... The conveyor belt mechanism includes a main conveyor belt and a lateral conveyor belt. The main conveyor belt is connected to the lateral conveyor belt through a steering mechanism, and the main conveyor belt is connected to the planting area, thus forming a "mouth" shape.

4. The integrated three-dimensional closed-loop cultivation and production system for leafy vegetables, comprising planting, cultivation, and harvesting, as described in claim 3, is characterized in that... The planting area is used for planting leafy vegetables on the planting plates. There are multiple cultivation devices in the three-dimensional cultivation area. The cultivation devices include cultivation racks, hydroponic cultivation troughs and planting plates supporting the hydroponic cultivation troughs. The hydroponic cultivation troughs are arranged on the cultivation racks. The harvesting area is used for harvesting leafy vegetables.

5. The integrated three-dimensional closed-loop cultivation and production system for leafy vegetables, comprising planting, cultivation, and harvesting, as described in claim 4, is characterized in that... Metal edges are arranged around the planting plates, and roller guiding structures are arranged on both sides of the hydroponic cultivation troughs. The metal edges are matched with the roller guiding structures to realize the movement of the planting plates.

6. The integrated three-dimensional closed-loop cultivation and production system for leafy vegetables, comprising planting, cultivation, and harvesting, as described in claim 4, is characterized in that... Each manipulator working platform includes at least two manipulators, driving cylinders, extension push rods and vertical lifting rods. Each manipulator is an independently operating open-close manipulator. The driving cylinders are respectively connected to the extension push rods and the vertical lifting rods. The driving cylinders drive the extension push rods to move left and right, so as to push the planting plates into or out of the hydroponic cultivation troughs. The driving cylinders drive the vertical lifting rods to move up and down to adjust the height of the planting plates.

7. The integrated three-dimensional closed-loop cultivation and production system for leafy vegetables, comprising planting, cultivation, and harvesting, as described in claim 4, is characterized in that... The roller guiding structure is an "L"-shaped roller array structure plate, including a number of side rollers and ground rollers, and each side roller is vertically connected to the ground roller.

8. The integrated three-dimensional closed-loop cultivation and production system for leafy vegetables, comprising planting, cultivation, and harvesting, as described in claim 3, is characterized in that... The cultivation rack is of an "A"-shaped structure. The hydroponic cultivation trough is of an integral structure in the length direction, and there are slot openings at both ends for the planting plates to enter and exit conveniently.

9. The integrated three-dimensional closed-loop cultivation and production system for leafy vegetables, comprising planting, cultivation, and harvesting, as described in claim 8, is characterized in that... Two parallel linear running rails are arranged on both sides of the main conveyor belt. Pulleys are arranged at the bottom of the manipulator working platform, and the pulleys are arranged on the two parallel linear running rails so that the manipulator working platform moves horizontally along the linear running rails and is positioned.

10. The integrated three-dimensional closed-loop cultivation and production system for leafy vegetables, comprising planting, cultivation, and harvesting, as described in claim 6, is characterized in that... Each manipulator includes a gripper one and a gripper two. The gripper one and the gripper two are connected by a connecting rod to form an open-close manipulator, so that the gripper one and the gripper two cooperate to grasp the planting plates.

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