阅读说明：本技术 一种切根采收装置 (Root cutting and harvesting device ) 是由 张炳鑫 李绍华 黎志银 李阳 于 2021-08-12 设计创作，主要内容包括：本发明涉及蔬菜采收的技术领域,公开了一种切根采收装置,包括切根采收机架、成品采收输送线、翻转单元、抱具和切根单元,成品输送线和切根单元固定在切根采收机架上,翻转单元设置在成品采收输送线的侧边,抱具包括相对设置的固定抱壳和活动抱壳,固定抱壳固定在翻转单元上,活动抱壳滑动的设置在翻转单元上,切根单元位于抱具的下方,本发明能够有效的避免蔬菜脱杯、切根过程中发生损伤,提高了采收品质。(The invention relates to the technical field of vegetable harvesting, and discloses a root cutting and harvesting device which comprises a root cutting and harvesting machine frame, a finished product harvesting conveying line, a turnover unit, a holding tool and a root cutting unit, wherein the finished product conveying line and the root cutting unit are fixed on the root cutting and harvesting machine frame, the turnover unit is arranged on the side edge of the finished product harvesting conveying line, the holding tool comprises a fixed holding shell and a movable holding shell which are oppositely arranged, the fixed holding shell is fixed on the turnover unit, the movable holding shell is arranged on the turnover unit in a sliding mode, and the root cutting unit is positioned below the holding tool.)

1. The utility model provides a cut root harvesting device, its characterized in that, gathers frame, finished product including cutting the root and gathers transfer chain, upset unit, locking device and cut the root unit, finished product transfer chain and root unit are fixed in cutting the root and gather the frame, the upset unit sets up the side at the finished product transfer chain of gathering, the locking device embraces the shell including the fixed shell of embracing and the activity of relative setting and embraces the shell, fixed embracing the shell is fixed on the upset unit, the gliding setting of shell is embraced in the activity on the upset unit, it is located the below of locking device to cut the root unit.

2. The root cutting and harvesting device as claimed in claim 1, wherein the turnover unit includes a turnover plate and a turnover cylinder, the turnover plate is disposed on a side of the finished product harvesting conveyor line, a turnover rotating shaft is fixed on a side of the turnover plate close to the finished product harvesting conveyor line, an output shaft of the turnover cylinder is pivotally connected to one end of the turnover plate far from the side of the finished product harvesting conveyor line, the turnover cylinder drives the turnover plate to turn over with the turnover rotating shaft as a rotation center, and the holding tool is disposed on the side of the turnover plate far from the finished product harvesting conveyor line.

3. The root cutting and harvesting device as claimed in claim 2, wherein the overturning plate is fixed with a clamping and holding driving cylinder and a holding tool slide rail, the fixed holding shell is fixed on the overturning plate, the movable holding shell is slidably arranged on the holding tool slide rail, and the movable holding shell is connected with an output shaft of the clamping and holding driving cylinder.

4. The root cutting and harvesting device as claimed in claim 3, wherein the number of the clasps is multiple, the clasps are distributed on the turnover plate at intervals, the movable clasping shells are fixed with connecting plates, the connecting plates of adjacent movable clasping shells are fixedly connected, and the output shaft of the clamping and clasping driving cylinder is fixedly connected with the movable clasping shells close to the turnover cylinder.

5. The root cutting and harvesting device as claimed in claim 1 or 2, further comprising a collecting plate fixed between the finished product harvesting conveying line and the turnover plate, wherein the collecting plate is arranged from the turnover plate to the finished product harvesting conveying line in an inclined manner from top to bottom, and the position of the collecting plate corresponds to the position of the holding tool on the turnover plate.

6. The root cutting and harvesting device of claim 2, wherein an end of the reversing cylinder remote from the output shaft is rotatably connected to the root cutting and harvesting frame.

7. The root cutting and harvesting device as claimed in claim 1, wherein the movable holding shell and the fixed holding shell are both shaped as a half cone with a large top and a small bottom.

8. The root cutting and harvesting device of claim 1, wherein the root cutting unit comprises two rodless cylinders arranged in parallel, a plurality of tool slide rails and a root cutting tool, two ends of the root cutting tool are respectively slidably arranged on the two rodless cylinders, the root cutting tool is slidably connected with the tool slide rails, the rodless cylinders and the tool slide rails are fixed with the root cutting and harvesting machine frame, the root cutting tool slides in a direction perpendicular to the finished product harvesting conveyor line, and the root cutting tool is located below the holding tool.

9. The root cutting and harvesting device as claimed in claim 8, wherein the root cutting tool comprises a tool fixing plate, an upper blade and a lower blade, two pneumatic sliding tables moving in opposite directions are fixed on the tool fixing plate, the upper blade and the lower blade are respectively connected with one pneumatic sliding table, and the upper blade and the lower blade are both provided with a toothed cutting edge.

10. The root cutting and harvesting device as claimed in claim 1, further comprising a root system conveying line fixed on the root cutting and harvesting machine frame and a root hair collecting box disposed at an output end of the root system conveying line and located below the root cutting unit.

Technical Field

The invention relates to the technical field of vegetable harvesting, in particular to a root cutting and harvesting device.

Background

Vegetables of an automatic plant factory are planted on a plane planting plate at intervals of a fixed distance, the automatic harvesting of mature vegetables is realized by clamping a planting cup with the vegetables from the planting plate through a mechanical clamping jaw, then root cutting and other harvesting actions are carried out, the end part (cutting part) of a vegetable root hair is positioned in the planting cup, and the planting cup needs to be separated from the root of the vegetables before the root cutting is carried out. Because the mechanical clamping jaw of the harvesting equipment is used for clamping the planting cup, the vegetable body must be fixed firstly and then the cup removing action is carried out if the planting cup is removed, so that an additional clamp is needed for clamping and fixing the vegetable body. Vegetables belong to the flexible fragile object, and vegetables leaf growing trend is irregular moreover, if use ordinary rigid fixture centre gripping vegetables body, the centre gripping direction and the centre gripping dynamics of mechanical clamping jaw are difficult to the accurate control, damage vegetable leaf and vegetable stalk easily after the centre gripping in-process and the clamp is tight, lead to gathering in-process vegetables impaired, influence the quality, reduce output.

Disclosure of Invention

Therefore, a root cutting and harvesting device is needed to be provided, and the problem that the common furniture is easy to damage vegetable leaves and vegetable stalks and affects harvesting quality is solved.

In order to achieve the purpose, the invention provides a root cutting and harvesting device which comprises a root cutting and harvesting machine frame, a finished product harvesting conveying line, an overturning unit, a holding tool and a root cutting unit, wherein the finished product conveying line and the root cutting unit are fixed on the root cutting and harvesting machine frame, the overturning unit is arranged on the side edge of the finished product harvesting conveying line, the holding tool comprises a fixed holding shell and a movable holding shell which are oppositely arranged, the fixed holding shell is fixed on the overturning unit, the movable holding shell is arranged on the overturning unit in a sliding mode, and the root cutting unit is located below the holding tool.

Further, the upset unit includes returning face plate and upset cylinder, the returning face plate sets up on the finished product is gathered on the side of transfer chain, be close to the finished product on the returning face plate and gather the side of transfer chain and be fixed with the upset pivot, keep away from the one end pin joint of the side that the finished product was gathered the transfer chain on the output shaft of upset cylinder and the returning face plate, upset cylinder drive returning face plate uses the upset pivot to overturn as rotation center, the locking device sets up on the side of keeping away from the finished product on the returning face plate and gathering the transfer chain, it is located the below of locking device to cut the root unit.

Further, be fixed with on the returning face plate and press from both sides to embrace and drive actuating cylinder and locking device slide rail, fixed armful shell is fixed on the returning face plate, the gliding setting of activity armful shell is on locking device slide rail, the activity is embraced the shell and is pressed from both sides the output shaft who embraces actuating cylinder. In the initial stage, the fixed holding shell and the movable holding shell are separated from each other, the clamping mechanical arm drives the vegetable on the planting cup to approach the fixed holding shell from top to bottom and cling to the fixed holding shell, after the vegetable is in place, the movable holding shell returns, the movable holding shell and the fixed holding shell clamp the vegetable, the clamping mechanical arm drives the planting cup to move downwards, and the cup removing process of the vegetable is completed.

Furthermore, the quantity of locking device is a plurality of, and a plurality of locking devices interval distribution on the returning face plate, and the activity is embraced and is fixed with the connecting plate on the shell, and the connecting plate fixed connection of shell is embraced in adjacent activity, press from both sides to embrace the output shaft that drives actuating cylinder and the activity that is close to the upset cylinder and embrace shell fixed connection. The connecting plates between the movable holding shells are rigidly connected, so that the movable holding shells can move on the holding tool slide rail only by driving one movable holding shell by the clamping and holding driving cylinder, and the rest movable holding shells can move along with the movable holding shells.

Further, still include the collecting plate, the collecting plate is fixed and is gathered between transfer chain and the returning face plate at the finished product, the collecting plate is gathered the transfer chain by the returning face plate to the finished product and is set up by the slope from top to bottom, the position of collecting plate is corresponding with the position of the locking device on the returning face plate. The collection plate that the slope set up is used for transiting the vegetables that slide from in the locking device to planting the board transfer chain, prevents that vegetables from falling into ground or other places.

Further, the one end of keeping away from the output shaft on the upset cylinder rotates with the root cutting and gathers the frame and be connected. The flag pole is convenient to turn by a certain angle along with the rotation of the turning plate.

Furthermore, the movable holding shell and the fixed holding shell are in the shape of a half cone with a large upper part and a small lower part. The movable holding shell and the fixed holding shell form a big-end-up cone, the upper part and the lower part of the cone are provided with open-ended holding tools, and due to the cone design of the holding tools, the movable holding shell and the fixed holding shell can hold up the blades of vegetables in the closing process, so that the damage to the vegetable leaves is effectively avoided, and the harvesting quality is improved. Further, the root cutting unit comprises two parallel-arranged rodless cylinders, a plurality of cutter slide rails and a root cutting cutter, the two ends of the root cutting cutter are respectively arranged on the two rodless cylinders in a sliding mode, the root cutting cutter is connected with the cutter slide rails in a sliding mode, the rodless cylinders and the cutter slide rails are fixed with the root cutting harvesting rack, the sliding direction of the root cutting cutter is perpendicular to the finished product harvesting conveying line, and the root cutting cutter is located below the holding tool. The gliding setting of root cutter is in the below of holding device, and when vegetables took off the cup, the one end that is located no pole cylinder of root cutter avoided root cutter and press from both sides to get the arm and collide, and the influence is taken off going on smoothly of cup, takes off the cup and accomplishes the back, and the root cutter moves under the holding device, cuts off vegetables root palpus, cuts the root action and accomplishes the back, and no pole cylinder drives the root cutter and returns and reset.

Further, the root cutting tool comprises a tool fixing plate, an upper blade and a lower blade, wherein two pneumatic sliding tables which move in opposite directions are fixed on the tool fixing plate, the upper blade and the lower blade are respectively connected with one pneumatic sliding table, and the upper blade and the lower blade are both provided with toothed cutting edges. The two pneumatic sliding tables act oppositely and simultaneously to drive the tooth-shaped cutting edges of the upper blade and the lower blade to oppositely close and cut the root of the vegetable, so that the root hair is cut off.

Further, still including root system transfer chain and root hair collecting box, the root system transfer chain is fixed in the root cutting frame of gathering, the root system transfer chain is located the below of root cutting unit, the root hair collecting box sets up the output at the root system transfer chain. The root system transfer chain is used for retrieving the collection to the root system that cuts off.

The technical scheme has the following beneficial effects:

according to the vegetable harvesting device, the holding tool and the clamping mechanical arm are matched and separated, in the separation process of the planting cup and vegetables, the movable holding shell and the fixed holding shell surround the stem leaves of the vegetables, the vegetables are not easy to damage, the phenomena of clamping and leaf breaking of the vegetables in the harvesting process are reduced, the harvesting quality is guaranteed, meanwhile, the turnover cylinder drives the turnover plate to turn over towards the finished product harvesting conveying line around the turnover rotating shaft, the top end opening of the holding tool is enabled to incline downwards, the vegetables in the holding tool slide onto the finished product harvesting conveying line under the action of gravity, and therefore the vegetable cup removing, root cutting and finished product collecting work are automatically completed by the root cutting and harvesting device, and the harvesting efficiency is effectively improved.

Drawings

Fig. 1 is a structural diagram of a root cutting and harvesting device according to an embodiment.

Fig. 2 is a diagram of a combination of a clamp and an external clamping device according to an embodiment.

Fig. 3 is a structural diagram of the harness according to the embodiment.

Fig. 4 is a partial structural view of the flipping unit according to the embodiment.

Fig. 5 is a schematic view illustrating the installation of the root cutting unit according to the embodiment.

Fig. 6 is a structural view of a root cutter according to an embodiment.

Description of reference numerals:

1. a root cutting and harvesting machine frame; 2. finished product harvesting and conveying lines; 3. a turning unit; 31. turning over the air cylinder; 32. a turnover plate; 33. a clamping driving cylinder; 34. a clamp slide rail; 35. turning over the rotating shaft; 36. a connecting plate; 4. a holding tool; 41. a movable holding shell; 42. fixing the holding shell; 5. a root cutting unit; 51. a rodless cylinder; 52. a tool slide rail; 53. a root cutter; 531. an upper blade; 532. a lower blade; 533. a pneumatic sliding table; 534. a cutter fixing plate; 6. a collection plate; 7. conveying the root system; 8. root hair collecting box.

Detailed Description

To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

Referring to fig. 1-6, the present embodiment provides a root cutting and harvesting device, which includes a root cutting and harvesting machine frame 1, a finished product harvesting and conveying line 2, and a turning unit 3, collecting plate 6, the locking device 4, cut root unit 5 and root system transfer chain 7 and root palpus collecting box 8, the finished product transfer chain is fixed on cutting the root and gathering frame 1 with cutting root unit 5, upset unit 3 includes returning face plate 32 and upset cylinder 31, returning face plate 32 sets up on the finished product side of gathering transfer chain 2, be fixed with upset pivot 35 on returning face plate 32 near the finished product side of gathering transfer chain 2, the one end pin joint of keeping away from the side of finished product on the output shaft of upset cylinder 31 and the returning face plate 32 of conveying chain 2 is gathered, 31 drive returning face plate 32 of upset cylinder overturn for rotation center with upset pivot 35, locking device 4 sets up on returning face plate 32 keeps away from the side of finished product on gathering transfer chain 2, it is located locking device 4's below to cut root unit 5. The one end of keeping away from the output shaft on upset cylinder 31 rotates with root cutting and gathers frame 1 and be connected. The flag pole is convenient to turn a certain angle along with the turning of the turning plate 32. In fig. 1, the flipping panel 32 is in a flipped state.

The holding tool 4 comprises a fixed holding shell 42 and a movable holding shell 41 which are oppositely arranged, a clamping and holding driving cylinder 33 and a holding tool 4 sliding rail 34 are fixed on the turnover plate 32, the fixed holding shell 42 is fixed on the turnover plate 32, the movable holding shell 41 is slidably arranged on the holding tool 4 sliding rail 34, and the movable holding shell 41 is connected with an output shaft of the clamping and holding driving cylinder 33. In the initial stage, the fixed holding shell 42 and the movable holding shell 41 are separated from each other, the clamping mechanical arm drives the vegetable on the planting cup to approach the fixed holding shell 42 from top to bottom and to be attached tightly, after the vegetable is in place, the movable holding shell 41 returns, the movable holding shell 41 and the fixed holding shell 42 clamp the vegetable, and then the clamping mechanical arm drives the planting cup to move downwards, so that the cup removing process of the vegetable is completed.

The number of the holding tools 4 is multiple, the holding tools 4 are distributed on the turnover plate 32 at intervals, the movable holding shell 41 is fixed with a connecting plate 36, the connecting plates 36 of the adjacent movable holding shells 41 are fixedly connected, and the output shaft of the clamping holding driving cylinder 33 is fixedly connected with the movable holding shell 41 close to the turnover cylinder 31. The connecting plates 36 between the movable holding shells 41 are rigidly connected, so that as long as the clamping driving cylinder 33 drives one movable holding shell 41 to move on the slide rails 34 of the holding tool 4, the rest movable holding shells 41 will follow the movement.

The movable holding shell 41 and the fixed holding shell 42 are both in the shape of a half cone with a large upper part and a small lower part. The movable holding shell 41 and the fixed husking form a big-end-up cone, the upper part and the lower part of the cone are provided with the open holding tool 4, and due to the cone design of the holding tool 4, the movable holding shell 41 and the fixed holding shell 42 can lift the blades of the vegetables in the closing process, so that the damage to the vegetable blades is effectively avoided, and the harvesting quality is improved.

Collecting plate 6 is fixed between finished product harvest transfer chain 2 and returning face plate 32, and collecting plate 6 is gathered transfer chain 2 by returning face plate 32 to the finished product and is set up from top to bottom slope, and collecting plate 6's position is corresponding with the position of locking device 4 on returning face plate 32. The obliquely arranged collecting plate 6 is used for transferring vegetables sliding from the holding tool 4 to the planting plate conveying line, and the vegetables are prevented from falling to the ground or other places.

Further, root cutting unit 5 includes two parallel arrangement's rodless cylinder 51, a plurality of cutter slide rail 52 and root cutting tool 53, and root cutting tool 53's both ends slide respectively and set up on two rodless cylinders 51, and root cutting tool 53 and cutter slide rail 52 sliding connection, rodless cylinder 51 and cutter slide rail 52 are fixed mutually with root cutting frame 1 of gathering, and root cutting tool 53's slip direction is perpendicular mutually with finished product gathering transfer chain 2, and root cutting tool 53 is located the below of locking tool 4. The root cutting tool 53 is arranged below the holding tool 4 in a sliding mode, when the vegetables are taken off the cup, the root cutting tool 53 is arranged at one end of the rodless cylinder 51, collision between the root cutting tool 53 and the clamping mechanical arm is avoided, the effect of taking off the cup is affected, after the cup is taken off, the root cutting tool 53 moves to the position right below the holding tool 4, the root whiskers of the vegetables are cut off, and after the root cutting action is completed, the rodless cylinder 51 drives the root cutting tool 53 to return to reset.

Specifically, the root cutter 53 includes a cutter fixing plate 534, an upper blade 531, and a lower blade 532, two pneumatic sliding tables 533 which move in opposite directions are fixed on the cutter fixing plate 534, the upper blade 531 and the lower blade 532 are respectively connected to one pneumatic sliding table 533, and both the upper blade 531 and the lower blade 532 have tooth-shaped cutting edges. The two pneumatic sliding tables 533 act simultaneously in opposite directions to drive the tooth-shaped cutting edges of the upper and lower blades 532 to close and cut the root of the vegetable in opposite directions, so as to cut off the root hair.

Root system transfer chain 7 is fixed on cutting the root and gathering frame 1, and root system transfer chain 7 is located the below of cutting root unit 5, and root palpus collecting box 8 sets up the output at root system transfer chain 7. Root system transfer chain 7 is used for retrieving the collection to the root system that cuts off, and is concrete, can set up the assembly pulley in the bottom of root hair collecting box 8, makes things convenient for the removal of root hair collecting box 8, can also increase and have mobilizable planting cup collection box, retrieves the planting cup that breaks away from.

The present embodiment uses an action process:

1. the clamping driving cylinder 33 drives the movable holding shell 41 to be far away from the fixed holding shell 42, so that the movable holding shell 41 and the fixed holding shell 42 are opened for a certain distance; the external clamping mechanical arm clamps the vegetable with the planting cup by using the clamping device, the vegetable on the clamping device is close to the part of the fixed holding shell 42, and the fixed holding shell 42 holds the stem leaves of the vegetable;

2. the clamping driving cylinder 33 retracts, the movable clamping shell 41 and the fixed clamping shell 42 are closed, the clamping mechanical arm moves after the vegetables are clamped by the conical clamping device 4, the planting cup on the clamping device is driven to vertically move downwards, the planting cup is separated from the root of the vegetables, the clamping mechanical arm moves again, and the planting cup on the clamping device is moved to the position above the planting cup recycling box; each clamping jaw is opened, so that various planting cups fall into a planting cup recovery box;

3. the rodless cylinder 51 along which the root cutting unit 5 moves to the position right below the holding tool 4, the cutting edges of the upper blade 531 and the lower blade 532 act to cut off the root and stem connecting part of the vegetables, and then the vegetable is reset, and the cut-off root and stem of the vegetables fall on the root system conveying line 7 under the action of gravity and finally fall into the root and stem collecting box 8;

4. the overturning cylinder 31 acts to push the conical holding tool 4 upwards and swing the conical holding tool for a fixed angle; after the conical holding tool 4 swings in place, vegetables in the holding tool 4 slowly slide down to the finished product harvesting conveying line 2 along the collecting plate 6 on the side face of the finished product harvesting conveying line 2, and operators on the conveying line perform subsequent checking and packaging actions on the vegetables;

5. the clamping mechanical arm drives the clamping device to continuously clamp vegetables, and the harvesting operation of the next row of vegetables is carried out.

According to the vegetable harvesting device, the holding tool 4 is matched and separated from the clamping mechanical arm, the holding tool 4 is used for enabling the planting cup to be separated from vegetables, the vegetables are not prone to damage, the phenomena of clamping and leaf breaking of the vegetables in the harvesting process are reduced, the harvesting quality is guaranteed, meanwhile, the overturning cylinder 31 drives the overturning plate 32 to overturn towards the finished product harvesting conveying line 2 around the overturning rotating shaft 35, the top end opening of the holding tool 4 is enabled to incline downwards, the vegetables in the holding tool 4 slide onto the finished product harvesting conveying line 2 under the action of gravity, and therefore the vegetable cup taking-off, root cutting and finished product collecting work are automatically completed through the root cutting and harvesting device, and the harvesting efficiency is effectively improved.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrases "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article, or terminal that comprises the element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.

Although the embodiments have been described, once the basic inventive concept is obtained, other variations and modifications of these embodiments can be made by those skilled in the art, so that the above embodiments are only examples of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes using the contents of the present specification and drawings, or any other related technical fields, which are directly or indirectly applied thereto, are included in the scope of the present invention.