Sleeve type mushroom picking actuator with mushroom stem self-adaptive positioning function

Abstract

The invention relates to the technical field of mushroom picking, and provides a sleeve type mushroom picking actuator capable of adaptively positioning mushroom stems, which comprises a bracket, a picking actuating mechanism and a first driving mechanism. The picking executing mechanism comprises a sleeve and a clamping assembly, and the sleeve is rotatably arranged on the support. The sleeve is provided with a containing cavity, an opening is formed in one side of the containing cavity, and the clamping assembly is movably arranged in the containing cavity; the accommodating cavity is used for accommodating to-be-picked mushrooms; the clamping assembly is used for clamping mushroom stems of mushrooms to be picked. The first driving mechanism is arranged on the support and is in transmission connection with the sleeve so as to drive the sleeve to rotate to break the mushroom stems. According to the sleeve type mushroom picking actuator with the mushroom stem self-adaptive positioning function, the to-be-picked mushroom is sleeved with the sleeve so that the to-be-picked mushroom can be positioned and protected, the clamping assembly in the containing cavity can be aligned with and clamp the mushroom stem, and the first driving mechanism can drive the sleeve to rotate so as to break off the mushroom stem; complete pileus and partial mushroom stems can be picked and obtained.

Description

Technical Field

[0001] The invention relates to the technical field of mushroom picking, and in particular to a sleeve-type mushroom picking actuator with self-adaptive positioning of mushroom stems. Background Art

[0002] At present, manual picking is the main way to pick mushrooms, which is inefficient, costly, labor-intensive, time-consuming and labor-intensive, and easy to damage the mushrooms, affecting the quality and yield of the mushrooms. Existing picking robots mainly pick mushrooms by clamping the cap part, which is easy to damage the mushrooms (especially the cap part). Summary of the invention

[0003] The invention provides a sleeve-type mushroom picking actuator with mushroom stem adaptive positioning, which is used to solve the defect in the prior art that the mushroom cap part is easily damaged when picking mushrooms.

[0004] The present invention provides a sleeve-type mushroom picking actuator with mushroom stem adaptive positioning, comprising: Bracket; The picking actuator comprises a sleeve and a clamping assembly, wherein the sleeve is rotatably arranged on the bracket; the sleeve is provided with a receiving cavity, one side of the receiving cavity is provided with an opening, and the clamping assembly is movably arranged in the receiving cavity; the receiving cavity is used to receive the mushrooms to be picked; and the clamping assembly is used to clamp the stems of the mushrooms to be picked; The first driving mechanism is arranged on the bracket and is drivingly connected with the sleeve to drive the sleeve to rotate so as to break the mushroom stem.

[0005] According to the sleeve-type mushroom picking actuator with mushroom stem adaptive positioning of the present invention, the clamping assembly includes a plurality of clamping members and a second driving mechanism; The second driving mechanism is disposed on the sleeve, and the second driving mechanism is in transmission connection with each of the clamping members to drive each of the clamping members to move between the first position and the second position; In the first position, a passage is formed between the plurality of clamping members for passage of the caps of the mushrooms to be picked; in the second position, a clamping space is formed between the plurality of clamping members for clamping the mushroom stems.

[0006] According to the sleeve-type mushroom picking actuator with mushroom stem adaptive positioning of the present invention, the clamping space is located at the center axis of the accommodating cavity.

[0007] According to the sleeve-type mushroom picking actuator with mushroom stem adaptive positioning of the present invention, the clamping assembly further includes a fixed disk, and the second driving mechanism includes a rotary driving assembly and a rotary frame; The fixed disk is arranged in the accommodating cavity, and a accommodating area for accommodating mushrooms to be picked is formed on the inner side of the rotating frame, and the rotating frame and the fixed disk are arranged coaxially; the rotating drive assembly is arranged on the sleeve and is transmission-connected with the rotating frame; each of the clamping members is rotatably arranged on the fixed disk, and each of the clamping members is movably connected with the rotating frame; The rotary drive assembly is used to drive the rotary frame to rotate so as to drive each of the clamping members to move between the first position and the second position.

[0008] According to the sleeve-type mushroom picking actuator with mushroom stem adaptive positioning of the present invention, the fixing plate is arranged at the opening position of the accommodating cavity; A distance sensor is provided on the side of the fixed disk facing away from the accommodating cavity, and the distance sensor is communicatively connected with the rotating drive assembly. The distance sensor is used to detect the distance information between the fixed disk and the soil matrix in which the mushrooms to be picked are planted. The rotating drive assembly is used to drive the rotating frame to rotate according to the distance information fed back by the distance sensor so that the clamping member clamps the mushroom stem.

[0009] According to the sleeve-type mushroom picking actuator with mushroom stem adaptive positioning of the present invention, there are a plurality of distance sensors, and the plurality of distance sensors are arranged at intervals along the circumference of the fixed disk.

[0010] According to the sleeve-type mushroom picking actuator with mushroom stem adaptive positioning of the present invention, the rotating frame includes a first rotating disk, a plurality of connecting rods, a second rotating disk and a toggle rod arranged in one-to-one correspondence with the clamping member; The rotation drive assembly is connected to the first turntable in a transmission manner to drive the first turntable to rotate around its own axis; the first turntable and the second turntable are coaxially arranged opposite to each other; one end of each of the connecting rods is connected to the first turntable, and the other end is connected to the second turntable, and a plurality of the connecting rods are evenly distributed along the circumference of the first turntable; One end of each of the toggle rods is rotatably connected to the second rotating disk, and the other end is rotatably connected to the corresponding clamping member.

[0011] According to the sleeve-type mushroom picking actuator with mushroom stem adaptive positioning of the present invention, the second driving mechanism further includes a photoelectric sensor, the photoelectric sensor is arranged on the first rotating disk, and the sleeve is provided with an arc-shaped hole corresponding to the photoelectric sensor; the rotary driving assembly is used to drive the first rotating disk to rotate according to the signal fed back by the photoelectric sensor; When the clamp moves between the first position and the second position, the signal emitting end of the photoelectric sensor faces the arc-shaped hole; when the clamp is located at the first position, the signal emitting end of the photoelectric sensor is blocked by the cylinder wall at one end of the arc-shaped hole; when the clamp is located at the second position, the signal emitting end of the photoelectric sensor is blocked by the cylinder wall at the other end of the arc-shaped hole.

[0012] According to the sleeve-type mushroom picking actuator with mushroom stem adaptive positioning of the present invention, the first driving mechanism includes a telescopic rod and a telescopic driving assembly; The telescopic rod includes a first rod body and a second rod body, the first rod body is rotatably connected to the bracket, the second rod body is movably arranged on the first rod body along the length direction of the telescopic rod, and the second rod body is rotatably connected to the sleeve; the telescopic drive assembly is arranged on the first rod body and is transmission-connected to the second rod body to drive the second rod body to drive the sleeve to rotate.

[0013] According to the sleeve-type mushroom picking actuator with mushroom stem adaptive positioning of the present invention, an observation hole communicating with the accommodating cavity is arranged on the outer peripheral wall of the sleeve.

[0014] The sleeve-type mushroom picking actuator with mushroom stem adaptive positioning of the present invention is connected to a mechanical arm by arranging a bracket, and a sleeve is arranged on the bracket so that the position of the sleeve can be adjusted by the mechanical arm. The sleeve is sleeved on the outside of the mushrooms to be picked, which can not only protect the mushroom caps, but also position the mushrooms to be picked as a whole, so that the clamping assembly in the accommodating cavity can align with and clamp the mushroom stems. After clamping the mushroom stems, the first driving mechanism can drive the sleeve to rotate to break the mushroom stems to complete the picking. After picking, a complete mushroom cap and part of the mushroom stems can be obtained. The picked mushrooms are more complete and of better quality, which effectively solves the defect of the prior art that the mushroom caps are easily damaged when picking mushrooms. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 This is one of the schematic diagrams of the sleeve-type mushroom picking actuator with mushroom stem adaptive positioning provided by an embodiment of the present invention.

[0017] Figure 2 This is the second schematic diagram of the sleeve-type mushroom picking actuator with mushroom stem adaptive positioning provided by the embodiment of the present invention.

[0018] Figure 3 This is the third schematic diagram of the sleeve-type mushroom picking actuator with mushroom stem adaptive positioning provided by an embodiment of the present invention.

[0019] Figure 4 yes Figure 2 Cross-sectional view at point A.

[0020] Figure 5 Schematic diagram of a sleeve and a clamping assembly provided in an embodiment of the present invention.

[0021] Figure 6 yes Figure 3 A partial enlarged view of point I in the middle.

[0022] Figure 7 yes Figure 3 Cross-sectional view at point B.

[0023] Reference numerals: 1. Sleeve-type mushroom picking actuator with adaptive positioning of mushroom stems; 11. Bracket; 12. Picking actuator; 121. Sleeve; 1211. Accommodating chamber; 1212. Arc hole; 1213. Observation hole; 122. Clamping assembly; 123. Clamping member; 124. Second driving mechanism; 1241. Rotary driving assembly; 1242. Rotating frame; 12421. First rotating disk; 12422. Connecting rod; 12423. Second rotating disk; 12424. Toggle rod; 1243. Photoelectric sensor; 125. Fixed disk; 126. Distance sensor; 13. First driving mechanism; 131. Telescopic rod; 1311. First rod body; 1312. Second rod body; 132. Telescopic driving assembly. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] Combine the following Figure 1-Figure 7 The invention discloses a sleeve-type mushroom picking actuator with mushroom stem adaptive positioning.

[0026] like Figure 1 , Figure 2 and Figure 3As shown, the present invention provides a sleeve-type mushroom picking actuator 1 with adaptive mushroom stem positioning, comprising: a bracket 11, a picking actuator 12 and a first driving mechanism 13. The picking actuator 12 comprises a sleeve 121 and a clamping assembly 122, and the sleeve 121 is rotatably arranged on the bracket 11. The sleeve 121 is provided with a receiving chamber 1211, and one side of the receiving chamber 1211 is provided with an opening, and the clamping assembly 122 is movably arranged in the receiving chamber 1211; the receiving chamber 1211 is used to receive the mushrooms to be picked; the clamping assembly 122 is used to clamp the mushroom stems of the mushrooms to be picked. The first driving mechanism 13 is arranged on the bracket 11, and is transmission-connected with the sleeve 121 to drive the sleeve 121 to rotate to break the mushroom stems.

[0027] In this embodiment, the bracket 11 is used to support and fix the picking actuator 12 and the first driving mechanism 13. It can be understood that the bracket 11 can be installed on a mechanical arm, and the position of the bracket 11 is adjusted by the mechanical arm, thereby adjusting the position of the picking actuator 12, so as to complete the picking operation of the mushrooms to be picked.

[0028] Specifically, a sleeve 121 is provided on the bracket 11, and a accommodating chamber 1211 with a single-side opening is provided in the sleeve 121. When picking operations are performed, the position of the bracket 11 can be adjusted by a mechanical arm so that the opening of the sleeve 121 is aligned with the cap of the mushroom to be picked, and the sleeve 121 is moved so that the cap enters the accommodating chamber 1211. The accommodating chamber 1211 can not only protect the cap, but also position the entire shiitake mushroom to be picked, so that the clamping assembly 122 in the accommodating chamber 1211 can be aligned with the mushroom stem to accurately clamp the mushroom stem.

[0029] Meanwhile, the support 11 is also provided with a first driving mechanism 13 , which can drive the sleeve 121 to rotate relative to the support 11 , so as to bend and break the mushroom stem when the clamping assembly 122 clamps the mushroom stem.

[0030] The sleeve-type mushroom picking actuator 1 with adaptive mushroom stem positioning of the present invention is provided with a bracket 11 so as to be connected to a mechanical arm, and a sleeve 121 is provided on the bracket 11 so as to adjust the position of the sleeve 121 by the mechanical arm, and the sleeve 121 is sleeved on the outside of the mushrooms to be picked, which can not only protect the mushroom caps, but also position the entire mushrooms to be picked, so that the clamping assembly 122 in the accommodating cavity 1211 can be aligned with and clamp the mushroom stems. After clamping the mushroom stems, the first driving mechanism 13 can drive the sleeve 121 to rotate to break the mushroom stems to complete the picking. After picking, a complete mushroom cap and part of the mushroom stems can be obtained, and the picked mushrooms are more complete and of better quality, which effectively solves the defect in the prior art that the mushroom caps are easily damaged when picking mushrooms.

[0031] In some embodiments, Figure 3 , Figure 4 and Figure 5 As shown, the clamping assembly 122 includes a plurality of clamping members 123 and a second driving mechanism 124. The second driving mechanism 124 is disposed on the sleeve 121, and the second driving mechanism 124 is in driving connection with each clamping member 123 to drive each clamping member 123 to move between a first position and a second position. In the first position, a passage is formed between the plurality of clamping members 123 to allow the caps of the mushrooms to be picked to pass through; in the second position, a clamping space is formed between the plurality of clamping members 123 to clamp the mushroom stems.

[0032] In this embodiment, a plurality of clamping members 123 and a second driving mechanism 124 are provided, the second driving mechanism 124 is installed on the sleeve 121, and the output end of the second driving mechanism 124 is transmission-connected to each clamping member 123 so as to drive each clamping member 123 to move (e.g. Figure 5 The plurality of clamping members 123 are arranged in a plurality of positions, and the ...

[0033] It is understandable that before the sleeve 121 is sleeved on the outside of the mushroom cap, the plurality of clamping members 123 can be moved to the first position by the second driving mechanism 124 so that the mushroom cap extends into the outside of the accommodating cavity 1211 and the mushroom stem is located at the position where the passage is located. Then, the plurality of clamping members 123 are moved to the second position by the second driving mechanism 124 so as to clamp the mushroom stem. After the mushroom stem is broken, the clamping member 123 can be kept in the second position to prevent the mushroom from falling out of the sleeve 121. The sleeve 121 can be moved above the container for containing the mushrooms, and then the clamping member 123 can be moved to the first position so that the mushrooms can fall into the container.

[0034] In some embodiments, Figure 3 and Figure 4 As shown, the clamping space is located at the center axis of the accommodating cavity 1211 .

[0035] In this embodiment, by reasonably adjusting the position and movement trajectory of the clamping members 123, when the multiple clamping members 123 move close to each other to the first position, the clamping space formed between the multiple clamping members 123 is exactly located at the position of the central axis of the accommodating chamber 1211. When clamping the mushroom stem, the multiple clamping members 123 can also adjust the mushroom stem to the central axis position of the accommodating chamber 1211, thereby adjusting the posture of the shiitake mushrooms in the accommodating chamber 1211, so that the mushroom cap can be maintained in the accommodating chamber 1211. The position close to the central axis is helpful to avoid contact between the mushroom cap and other structures in the accommodating chamber 1211, so as to better protect the mushroom cap.

[0036] In some embodiments, Figure 3 , Figure 4 and Figure 5 As shown, the clamping assembly 122 also includes a fixed disk 125, and the second driving mechanism 124 includes a rotation drive assembly 1241 and a rotating frame 1242. The fixed disk 125 is arranged in the accommodating chamber 1211, and the inner side of the rotating frame 1242 is formed with an accommodating area for accommodating the mushrooms to be picked, and the rotating frame 1242 and the fixed disk 125 are coaxially arranged. The rotation drive assembly 1241 is arranged on the sleeve 121 and is transmission-connected to the rotating frame 1242. Each clamping member 123 can be rotatably arranged on the fixed disk 125, and each clamping member 123 is movably connected to the rotating frame 1242. The rotation drive assembly 1241 is used to drive the rotating frame 1242 to rotate so as to drive each clamping member 123 to move between the first position and the second position.

[0037] In this embodiment, the rotary drive assembly 1241 is used to drive the rotating frame 1242 to rotate. The rotating frame 1242 is a hollow frame structure. The inner side of the rotating frame 1242 is formed with a receiving area to receive the mushrooms to be picked, so as to avoid touching the caps of the mushrooms to be picked. The rotating frame 1242 is connected to each clamping member 123. The clamping member 123 is rotatably disposed on the fixed plate 125. When the rotating frame 1242 rotates (such as Figure 5 The arc-shaped arrow in the middle (as shown) can drive all the clamping members 123 to rotate synchronously, so that the clamping members 123 can be opened or closed synchronously, without the need to independently control each clamping member 123, with a simple structure and convenient operation.

[0038] Specifically, in some embodiments, Figure 6As shown, the rotary drive assembly 1241 includes a rotary motor and a gear set, and the gear set may include a plurality of gears and a gear shaft. Specifically, the gear set includes a first gear, a second gear, a third gear, a fourth gear and a transmission shaft, wherein the first gear is sleeved on the output shaft of the rotary motor, the second gear and the first gear are meshed with each other, the second gear and the third gear are both sleeved on the transmission shaft, the transmission shaft is rotatably arranged on the sleeve 121 through a bearing, the fourth gear is meshed with the third gear, and the fourth gear is sleeved on the rotating shaft of the rotating frame 1242. By reasonably setting the gear ratio of the first gear, the second gear, the third gear, and the fourth gear, the transmission and speed regulation functions between the rotary motor and the rotating frame 1242 can be realized.

[0039] In some embodiments, Figure 3 and Figure 5 As shown, the fixed plate 125 is arranged at the opening position of the accommodating cavity 1211. A distance sensor 126 is arranged on the side of the fixed plate 125 away from the accommodating cavity 1211. The distance sensor 126 is in communication connection with the rotating drive assembly 1241. The distance sensor 126 is used to detect the distance information between the fixed plate 125 and the soil substrate for planting the mushrooms to be picked. The rotating drive assembly 1241 is used to drive the rotating frame 1242 to rotate according to the distance information fed back by the distance sensor 126 so that the clamping member 123 clamps the mushroom stem.

[0040] In this embodiment, by setting the fixed disk 125 at the opening position of the accommodating chamber 1211 and arranging the distance sensor 126 on the fixed disk 125, when the control sleeve 121 moves in the opposite direction of the growth direction of the mushrooms to be picked so that the mushrooms to be picked extend into the accommodating chamber 1211, the fixed disk 125 will gradually approach the roots of the mushrooms to be picked, that is, gradually approach the soil matrix in which the mushrooms to be picked are planted. The distance sensor 126 can detect the distance between the fixed disk 125 and the soil matrix during the approach process, and when the distance between the fixed disk 125 and the soil matrix reaches a set value, the rotating drive component 1241 drives the rotating frame 1242 to rotate so that the clamping member 123 clamps the mushroom stem, so as to control the clamping position of the clamping member 123 so that the clamping position can be as close to the soil matrix as possible, and at the same time, the fixed disk 125 will not collide with the soil matrix, so that the mushrooms after picking can retain as much of the mushroom stem as possible, which is more complete and has better quality.

[0041] Furthermore, in some embodiments, Figure 3 and Figure 5 As shown, there are a plurality of distance sensors 126 , and the plurality of distance sensors 126 are arranged at intervals along the circumference of the fixed disk 125 .

[0042] In this embodiment, a plurality of distance sensors 126 are arranged at intervals along the circumferential direction on the fixed disk 125, and the plurality of distance sensors 126 can detect the distance between different positions of the fixed disk 125 and corresponding positions of the soil matrix. It is understandable that the surface of the soil matrix may be uneven, and by providing a plurality of distance sensors 126 to detect the distance between different positions of the fixed disk 125 and corresponding positions of the soil matrix, it is possible to further avoid the fixed disk 125 from contacting and colliding with the raised portion on the soil matrix, thereby causing damage to the sleeve 121 itself.

[0043] In some embodiments, a clearance hole is provided on the fixed plate 125 so that the mushroom cap can pass through the clearance hole and enter the accommodating cavity 1211. A plurality of distance sensors 126 can be arranged at intervals around the clearance hole and be arranged as close to the edge of the clearance hole as possible.

[0044] In a specific embodiment, the rotary drive assembly 1241 drives the rotating frame 1242 so that the distance between the clamping member 123 and the mushroom stem is 5 mm. That is, when the minimum value of the distance detected by the multiple distance sensors 126 is 5 mm, the sleeve 121 stops moving and the rotary drive assembly 1241 drives the rotating frame 1242 to rotate.

[0045] It is understandable that after the sleeve-type mushroom picking actuator 1 with adaptive positioning of the mushroom stem is installed on the robot arm, it is necessary to cooperate with the visual system to locate the mushrooms to be picked. By adopting the sleeve-type mushroom picking actuator 1 with adaptive positioning of the mushroom stem of this embodiment, the visual system only needs to determine the position of the mushroom cap, and after the mushroom cap is loaded into the sleeve 121, the sleeve 121 can be used to limit the posture of the mushroom cap and the mushroom to be picked, and cooperate with the distance sensor 126 to control the clamping position of the clamp 123, so that the clamp 123 can be accurately clamped on the mushroom stem. The visual system does not need to identify the position of the mushroom stem, while ensuring the clamping accuracy, it reduces the recognition difficulty and accuracy requirements of the visual system, and the operation is more convenient.

[0046] In some embodiments, Figures 3 to 5 As shown, the rotating frame 1242 includes a first rotating disk 12421, a plurality of connecting rods 12422, a second rotating disk 12423, and a toggle rod 12424 arranged one by one with the clamping member 123. The rotation drive assembly 1241 is connected to the first rotating disk 12421 in a transmission manner to drive the first rotating disk 12421 to rotate around its own axis. The first rotating disk 12421 and the second rotating disk 12423 are coaxially arranged opposite to each other. One end of each connecting rod 12422 is connected to the first rotating disk 12421, and the other end is connected to the second rotating disk 12423, and the plurality of connecting rods 12422 are evenly distributed along the circumference of the first rotating disk 12421. One end of each toggle rod 12424 is rotatably connected to the second rotating disk 12423, and the other end is rotatably connected to the corresponding clamping member 123.

[0047] In this embodiment, the first turntable 12421 and the second turntable 12423 are arranged opposite to each other, and the first turntable 12421 and the second turntable 12423 are connected by multiple connecting rods 12422, so that a accommodating area is formed between the first turntable 12421, the second turntable 12423 and the connecting rods 12422 to accommodate the mushrooms to be picked.

[0048] The rotating drive assembly 1241 is connected to the first rotating disk 12421 by transmission. The rotating drive assembly 1241 can drive the first rotating disk 12421 to rotate, thereby driving the second rotating disk 12423 to rotate. The second rotating disk 12423 is connected to the corresponding clamping member 123 through the toggle rod 12424. When the second rotating disk 12423 rotates, it can drive each clamping member 123 to rotate synchronously. At the same time, the first rotating disk 12421 and the second rotating disk 12423 are coaxially arranged, so that when the first rotating disk 12421 and the second rotating disk 12423 rotate around their own rotating axes, the position of the accommodating interval remains unchanged, and the cap of the mushroom to be picked will not be affected, and the structure is more compact. In addition, a plurality of connecting rods 12422 are evenly distributed along the circumference of the first rotating disk 12421, so that the force between the first rotating disk 12421 and the second rotating disk 12423 is evenly dispersed, so that the entire rotating frame 1242 is more stable and reliable during the rotation process.

[0049] In some embodiments, Figure 3 and Figure 7 As shown, the second driving mechanism 124 also includes a photoelectric sensor 1243, which is arranged on the first rotating disk 12421, and the corresponding photoelectric sensor 1243 of the sleeve 121 is provided with an arc-shaped hole 1212. The rotation driving assembly 1241 is used to drive the first rotating disk 12421 to rotate according to the signal fed back by the photoelectric sensor 1243. When the clamping member 123 moves between the first position and the second position, the signal emitting end of the photoelectric sensor 1243 faces the arc-shaped hole 1212. When the clamping member 123 is located at the first position, the signal emitting end of the photoelectric sensor 1243 is blocked by the cylinder wall at one end of the arc-shaped hole 1212. When the clamping member 123 is located at the second position, the signal emitting end of the photoelectric sensor 1243 is blocked by the cylinder wall at the other end of the arc-shaped hole 1212.

[0050] In this embodiment, by arranging the photoelectric sensor 1243 on the first rotating disk 12421 and arranging the corresponding arc-shaped hole 1212 on the sleeve 121, when the rotation driving component 1241 drives the first rotating disk 12421 to rotate, the photoelectric sensor 1243 moves with the first rotating disk 12421, and the signal emitting end of the photoelectric sensor 1243 moves along the extending direction of the arc-shaped hole 1212. When the clamping member 123 moves between the first position and the second position and has not yet reached the first position or the second position, the signal emitted by the signal emitting end of the photoelectric sensor 1243 can be emitted outward through the arc-shaped hole 1212, and the signal will not be reflected and received by the photoelectric sensor 1243, and the rotation driving component 1241 It will drive the first turntable 12421 to continue rotating; and when the clamping member 123 reaches the first position or the second position, the signal emitting end of the photoelectric sensor 1243 just reaches the two ends of the arc hole 1212 and is blocked by the cylinder wall of the sleeve 121 at both ends. The signal of the photoelectric sensor 1243 is reflected by the cylinder wall and then received again by the photoelectric sensor 1243, and a corresponding control signal is generated. The corresponding control signal is sent to the rotation drive component 1241, and the rotation drive component 1241 stops rotating, so that the clamping member 123 stays in the first position or the second position, thereby limiting the rotation angle of the first turntable 12421 to avoid excessive rotation of the first turntable 12421, which may cause damage to the transmission structure.

[0051] In some embodiments, Figure 3 As shown, the first driving mechanism 13 includes a telescopic rod 131 and a telescopic driving assembly 132. The telescopic rod 131 includes a first rod body 1311 and a second rod body 1312, the first rod body 1311 is rotatably connected to the bracket 11, the second rod body 1312 is movably arranged on the first rod body 1311 along the length direction of the telescopic rod 131, and the second rod body 1312 is rotatably connected to the sleeve 121. The telescopic driving assembly 132 is arranged on the first rod body 1311 and is in transmission connection with the second rod body 1312 to drive the second rod body 1312 to drive the sleeve 121 to rotate.

[0052] In this embodiment, by movably setting the second rod body 1312 on the first rod body 1311, the second rod body 1312 can move along the length direction of the telescopic rod 131 under the telescopic drive assembly 132 to achieve the telescopic rod 131 (such as Figure 2 As shown by the straight arrows, the first rod body 1311 and the second rod body 1312 are connected to the bracket 11 and the sleeve 121 respectively, and the telescopic rod 131 can drive the sleeve 121 to rotate by extending and retracting (as shown in FIG. Figure 2 The arc-shaped arrow indicates that the mushroom stem can be broken when the mushroom stem is clamped. The structure is simple and convenient and practical.

[0053] Specifically, in some embodiments, Figure 3As shown, a mounting hole is provided in the first rod body 1311. The telescopic drive assembly 132 includes a rotary motor, a screw and a nut. The rotary motor is arranged in the mounting hole. One end of the screw is connected to the output shaft of the rotary motor. The nut is sleeved on the screw. The nut is connected to the second rod body 1312. The second rod body 1312 is movably inserted in the mounting hole. The rotary motor drives the screw to rotate. The screw and the nut cooperate to move the nut along the length direction of the screw, thereby driving the second rod body 1312 to move, so as to realize the telescopic rod 131.

[0054] In some embodiments, Figure 1 and Figure 2 As shown, an observation hole 1213 communicating with the accommodating cavity 1211 is provided on the outer peripheral wall of the sleeve 121 .

[0055] In this embodiment, an observation hole 1213 is provided on the sleeve 121 so that an operator can observe the posture of the mushrooms to be picked in the accommodating cavity 1211 from the outside, so as to test and adjust the sleeve-type mushroom picking actuator 1 with adaptive positioning of the mushroom stem.

[0056] Specifically, there may be a plurality of observation holes 1213 , and the plurality of observation holes 1213 are arranged at intervals along the circumference of the sleeve 121 .

[0057] Optionally, the observation hole 1213 may be installed with a transparent plate (such as an acrylic plate) to close the observation hole 1213.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A sleeve-type mushroom picking actuator with mushroom stem adaptive positioning, characterized in that: include: Bracket; The picking actuator comprises a sleeve and a clamping assembly, wherein the sleeve is rotatably arranged on the bracket; the sleeve is provided with a receiving cavity, one side of the receiving cavity is provided with an opening, and the clamping assembly is movably arranged in the receiving cavity; the receiving cavity is used to receive the mushrooms to be picked; and the clamping assembly is used to clamp the stems of the mushrooms to be picked; The first driving mechanism is arranged on the bracket and is drivingly connected with the sleeve to drive the sleeve to rotate so as to break the mushroom stem.

2. The sleeve-type mushroom picking actuator with mushroom stem adaptive positioning according to claim 1 is characterized in that: The clamping assembly includes a plurality of clamping members and a second driving mechanism; The second driving mechanism is disposed on the sleeve, and the second driving mechanism is in transmission connection with each of the clamping members to drive each of the clamping members to move between the first position and the second position; In the first position, a passage is formed between the plurality of clamping members for passage of the caps of the mushrooms to be picked; in the second position, a clamping space is formed between the plurality of clamping members for clamping the mushroom stems.

3. The sleeve-type mushroom picking actuator with mushroom stem adaptive positioning according to claim 2 is characterized in that: The clamping space is located at the center axis of the accommodating cavity.

4. The sleeve-type mushroom picking actuator with mushroom stem adaptive positioning according to claim 2 is characterized in that: The clamping assembly further includes a fixed plate, and the second driving mechanism includes a rotation driving assembly and a rotating frame; The fixed disk is arranged in the accommodating cavity, and a accommodating area for accommodating mushrooms to be picked is formed on the inner side of the rotating frame, and the rotating frame and the fixed disk are arranged coaxially; the rotating drive assembly is arranged on the sleeve and is transmission-connected with the rotating frame; each of the clamping members is rotatably arranged on the fixed disk, and each of the clamping members is movably connected with the rotating frame; The rotary drive assembly is used to drive the rotary frame to rotate so as to drive each of the clamping members to move between the first position and the second position.

5. The sleeve-type mushroom picking actuator with mushroom stem adaptive positioning according to claim 4 is characterized in that: The fixing plate is arranged at the opening position of the accommodating cavity; A distance sensor is provided on a side of the fixed disk facing away from the accommodating cavity, and the distance sensor is communicatively connected with the rotating drive assembly. The distance sensor is used to detect distance information between the fixed disk and the soil matrix in which the mushrooms to be picked are planted. The rotating drive assembly is used to drive the rotating frame to rotate according to the distance information fed back by the distance sensor so that the clamping member clamps the mushroom stem.

6. The sleeve-type mushroom picking actuator with mushroom stem adaptive positioning according to claim 5 is characterized in that: There are a plurality of distance sensors, and the plurality of distance sensors are arranged at intervals along the circumference of the fixed disk.

7. The sleeve-type mushroom picking actuator with mushroom stem adaptive positioning according to claim 4 is characterized in that: The rotating frame includes a first rotating disk, a plurality of connecting rods, a second rotating disk, and a toggle rod corresponding to the clamping members; The rotation drive assembly is connected to the first turntable in a transmission manner to drive the first turntable to rotate around its own axis; the first turntable and the second turntable are coaxially arranged opposite to each other; one end of each of the connecting rods is connected to the first turntable, and the other end is connected to the second turntable, and a plurality of the connecting rods are evenly distributed along the circumference of the first turntable; One end of each of the toggle rods is rotatably connected to the second rotating disk, and the other end is rotatably connected to the corresponding clamping member.

8. The sleeve-type mushroom picking actuator with mushroom stem adaptive positioning according to claim 7 is characterized in that: The second driving mechanism further comprises a photoelectric sensor, which is arranged on the first rotating disk, and the sleeve is provided with an arc-shaped hole corresponding to the photoelectric sensor; the rotation driving assembly is used to drive the first rotating disk to rotate according to the signal fed back by the photoelectric sensor; When the clamp moves between the first position and the second position, the signal emitting end of the photoelectric sensor faces the arc-shaped hole; when the clamp is located at the first position, the signal emitting end of the photoelectric sensor is blocked by the cylinder wall at one end of the arc-shaped hole; When the clamping member is located at the second position, the signal emitting end of the photoelectric sensor is blocked by the cylinder wall at the other end of the arc-shaped hole.

9. The sleeve-type mushroom picking actuator with mushroom stem adaptive positioning according to claim 1, characterized in that: The first driving mechanism includes a telescopic rod and a telescopic driving assembly; The telescopic rod includes a first rod body and a second rod body, the first rod body is rotatably connected to the bracket, the second rod body is movably arranged on the first rod body along the length direction of the telescopic rod, and the second rod body is rotatably connected to the sleeve; the telescopic drive assembly is arranged on the first rod body and is transmission-connected to the second rod body to drive the second rod body to drive the sleeve to rotate.

10. The sleeve-type mushroom picking actuator with mushroom stem adaptive positioning according to any one of claims 1 to 9, characterized in that: An observation hole communicating with the accommodating cavity is arranged on the outer peripheral wall of the sleeve.

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