Double-row six-shaft agaricus bisporus picking equipment and picking method thereof

Abstract

The invention discloses double-row six-axis agaricus bisporus picking equipment and a picking method thereof.The picking equipment comprises an equipment base body moving along an agaricus bisporus planting frame track, two six-axis picking mechanisms are arranged at the bottom of the equipment base body at intervals, and the picking range of the two six-axis picking mechanisms covers the width direction of a planting frame; the six-axis picking mechanism comprises a three-axis module and a tail end manipulator, and the three-axis module is used for driving the tail end manipulator to move along the X axis, the Y axis and the Z axis; the tail end manipulator has a degree of freedom of rotating around a vertical axis and a horizontal axis, and claws capable of being opened and closed; a conveying mechanism is arranged between the two six-axis picking mechanisms and used for conveying agaricus bisporus picked by the six-axis picking mechanisms out of the picking equipment; the picking areas of the two agaricus bisporus cover the width direction of the shelf and do not interfere with each other, and control and implementation are easy; besides, the picking mechanism has six degrees of freedom, and can accurately pick the agaricus bisporus in cooperation with computer vision, so that the picking quality and efficiency can be ensured.

Description

Technical Field

[0001] The invention relates to Agaricus bisporus picking equipment, in particular to double-row six-axis Agaricus bisporus picking equipment and a picking method thereof. Background Art

[0002] Agaricus bisporus, also known as Agaricus bisporus, is an edible fungus with great nutritional value.

[0003] At present, Agaricus bisporus is mainly produced in factories using racks and harvested manually. In some developed countries, Agaricus bisporus is often harvested in a large area in a blanket manner, and Agaricus bisporus that is not big enough or has not grown properly is directly discarded. In recent years, with the rapid development of computer vision, the refined unmanned harvesting of Agaricus bisporus based on vision has begun to take off, and the development of equipment suitable for picking Agaricus bisporus on low racks has broad prospects.

[0004] CN112640737B discloses an integrated intelligent harvesting and root cutting system for Agaricus bisporus and a follow-up collection method, wherein the multi-arm picking device has three Y-direction moving modules and a common X-direction moving module, and a picking end effector is installed on each Y-direction moving module. The three Y-direction moving modules share one X-direction moving module, which is difficult to control. In addition, the picking end effector only moves in the vertical direction, with a low degree of freedom, which makes it inconvenient to distinguish and pick dense Agaricus bisporus. When picking Agaricus bisporus with a large tilt angle of the umbrella handle, a large gripping force is required, which can easily cause damage to the Agaricus bisporus. Summary of the invention

[0005] Purpose of the invention: The first purpose of the present invention is to provide a double-row six-axis Agaricus bisporus picking device with simple control and high degree of freedom at the end; the second purpose of the present invention is to provide a picking method of the double-row six-axis Agaricus bisporus picking device

[0006] Technical solution: The double-row six-axis Agaricus bisporus picking device of the present invention comprises an equipment base, the bottom of the equipment base is provided with a driving wheel group and a driven wheel group capable of moving along the track of the Agaricus bisporus planting rack, a camera for collecting Agaricus bisporus images is arranged on the equipment base, two six-axis picking mechanisms are arranged at intervals at the bottom of the equipment base, and the picking ranges of the two six-axis picking mechanisms cover the width direction of the planting rack; a conveying mechanism is arranged between the two six-axis picking mechanisms, for conveying the Agaricus bisporus picked by the six-axis picking mechanisms out of the picking device;

[0007] The six-axis picking mechanism includes a three-axis module and an end manipulator. The three-axis module is used to drive the end manipulator to move along the X, Y, and Z axes.

[0008] The end manipulator includes an end base and multiple claws, and a rangefinder is fixed to the lower end surface of the end base through a rangefinder seat; a first motor is vertically fixed on the end base, and an intermediate frame is installed at the output end of the first motor, and a second motor is horizontally fixed on the intermediate frame, and a lower frame is installed at the output end of the second motor, and the other end of the lower frame rotates with the intermediate frame; a gripper frame is arranged in the lower frame, and the bottom of the gripper frame is hingedly connected to the rear end hole of the claw, and a screw motor is arranged on the upper part of the gripper frame, and a nut flange that moves along a straight line is provided on the screw at the bottom of the screw motor, and a nut seat is fixed on the nut flange, and the nut seat is connected to the waist hole groove at the front end of the claw; the screw motor drives the nut flange and the nut seat to move vertically, so that the claw rotates around the rear end hole to complete the grasping and releasing actions.

[0009] Furthermore, the picking ranges of the two six-axis picking mechanisms have an overlapping portion in the middle of the device base.

[0010] Furthermore, the three-axis module includes a short module, a long module and a longitudinal module. The short module is arranged along the moving direction of the equipment base and is fixedly connected to the equipment base through a short module mounting seat; the long module is arranged perpendicular to the moving direction of the equipment base, one end of the long module is fixed to the movable part of the short module through a first module connecting plate, and the movable part of the short module moves in a straight line within the travel range of the short module; a second module connecting plate is fixed to the other end of the long module, and the second module connecting plate is connected to the first slider on the guide rail, and the guide rail is arranged parallel to the short module; the guide rail bottom plate for fixing the guide rail is fastened to the lifting adjustment block, the lifting seat is fixedly connected to the equipment base, the lifting adjustment block is lifted and connected to the lifting seat by bolts, and the horizontal height and angle of the lifting adjustment block can be adjusted by adjusting the bolts; the back side of the longitudinal module is fixed on the movable part of the long module, and the movable part of the long module moves in a straight line within the travel range of the long module; the terminal base is installed on the movable part of the longitudinal module.

[0011] Furthermore, the movable part of the longitudinal module group includes a screw flange nut and a slide bottom and a slide top that are sleeved and fastened on the screw flange nut; the longitudinal module group includes a longitudinal module group base and a screw shaft, and the top and bottom of the longitudinal module group base are respectively provided with a top panel and a bottom panel, the screw shaft is rotatably connected between the top panel and the bottom panel, and the screw flange nut and the screw shaft are threadedly transmitted; a vertical guide rail is provided on the surface of the longitudinal module group base, and a second slider is slidably provided on the vertical guide rail, and the slide bottom is fastened to the second slider; a flat synchronous wheel is provided on the top of the screw shaft, and a servo motor is fixed to the bottom of the top panel, and the output end of the servo motor is connected to the screw shaft through a flat synchronous wheel and a synchronous belt, so that the screw flange nut and the slide top move in a straight line within the travel range; the terminal base is fixed on the slide top.

[0012] Furthermore, the conveying mechanism includes a conveying mechanism base, a pair of conveying wheel bearing seats are respectively provided at both ends of the conveying mechanism base, a conveying driving wheel shaft and a conveying driven wheel shaft are respectively provided on the conveying wheel bearing seats at the head end and the tail end, two conveyor belts are arranged between the conveying driving wheel shaft and the conveying driven wheel shaft, the middle part of the two conveyor belts is a space for the Agaricus bisporus umbrella handle to pass through, and the bearing surfaces of the two conveyor belts are used to bear the Agaricus bisporus umbrella surface; a cross-mounted plate is provided at the head end of the conveying mechanism base, a second reduction motor is fixed on the cross-mounted plate through a fourth motor seat, and the conveyor belt is driven by the second reduction motor through the synchronous pulley and the synchronous belt on the conveying driving wheel shaft.

[0013] Furthermore, the spacing between the two conveyor belts is 20 to 35 mm.

[0014] Furthermore, the driving wheel group includes a lifting plate and a first reduction motor, the lifting plate is fastened to the equipment base, the first reduction motor is fixed to the lifting plate through the first motor seat, driving wheel panels are fixed on both sides of the equipment base, a pair of bearing seats are fixed on the upper and lower sides of the driving wheel panels, a short transmission shaft is rotatably provided on the upper bearing seat, a wheel axle is rotatably provided on the lower bearing seat, a wheel hub is fixed at the end of the wheel axle, and a wheel rim is provided on the wheel hub; the short transmission shaft and the wheel axle are driven by a synchronous belt; the short transmission shaft is connected to the output end of the first reduction motor through a long transmission shaft.

[0015] Furthermore, the driven wheel assembly includes a driven wheel panel fixed on both sides of the equipment base, a pair of bearing seats are fixed on the lower side of the driven wheel panel, an axle is rotatably arranged on the lower bearing seat, a hub is fixed at the end of the axle, and a rim is arranged on the hub.

[0016] Furthermore, a pair of bearing seats are also fixed on the upper side of the driven wheel panel, and a detection shaft is rotatably arranged on the upper bearing seat, and the detection shaft and the wheel axle are driven by a synchronous belt; an encoder is fixed on the driven wheel panel through an encoder mounting plate, and the encoder is connected to one end of the detection shaft for detecting the rotation data of the driven wheel group.

[0017] The picking method of the double-row six-axis Agaricus bisporus picking device of the present invention comprises:

[0018] 1) The picking equipment moves to the picking area;

[0019] 2) The camera collects images of Agaricus bisporus in the picking area, determines the Agaricus bisporus to be picked through computer vision, and plans the picking order, picking movements and angles;

[0020] 3) The two six-axis picking mechanisms work separately, the three-axis module moves the end manipulator to the top of the target Agaricus bisporus, the rangefinder is aimed at the target Agaricus bisporus, and the moving distance of the longitudinal module is obtained;

[0021] 4) The three-axis module moves the end manipulator to the picking position, and the end manipulator uses the first motor and the second motor to make the claws perform a wrist-like picking action at a corresponding angle, and the lead screw motor drives the claws to complete the picking action; the three-axis module cooperates with the end manipulator to fine-move, so that the mushroom handle rotates 3 to 10 degrees around the root of the handle and then pulls up the mushroom;

[0022] 5) The six-axis picking mechanism places the Agaricus bisporus on the conveying mechanism, which then transports the Agaricus bisporus out of the picking device.

[0023] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0024] The present invention provides a six-axis picking mechanism arranged in double rows, which can provide six degrees of freedom of movement within a limited shelf height space. The end manipulator can imitate the twisting action of a human hand and, in conjunction with computer vision, can individually and accurately pick densely distributed Agaricus bisporus in a small range with less force than directly pulling out the Agaricus bisporus without damaging other surrounding Agaricus bisporus. The two six-axis picking mechanisms do not interfere with each other, and the picking areas of the two six-axis picking mechanisms cover the width direction of the shelf.

[0025] In summary, the present invention has higher Agaricus bisporus picking quality and picking efficiency, and because the two six-axis picking mechanisms are independent of each other, the control is simpler to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a double-row six-axis Agaricus bisporus picking device provided by an embodiment of the present invention;

[0027] Figure 2 is a schematic structural diagram of a driving wheel group in an embodiment of the present invention;

[0028] Figure 3 is a schematic structural diagram of one side of a driven wheel assembly in an embodiment of the present invention;

[0029] Figure 4 is a schematic structural diagram of a six-axis picking mechanism in an embodiment of the present invention;

[0030] Figure 5 is a schematic structural diagram of a longitudinal module in an embodiment of the present invention;

[0031] Figure 6 is a schematic structural diagram of an end manipulator in an embodiment of the present invention;

[0032] Figure 7 is a cross-sectional view of an end manipulator in an embodiment of the present invention;

[0033] Figure 8 Schematic diagram of the structure of the conveying mechanism in the embodiment of the present invention. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings.

[0035] Attached Figures 1 to 8 The reference numerals in the figures are as follows:

[0036] 1. Equipment base;

[0037] 2, driving wheel assembly; 201, wheel rim; 202, wheel hub; 203, wheel outer pressure plate; 204, wheel inner pressure plate; 205, wheel axle; 206, driving wheel panel; 207, wheel panel pad; 208, bearing seat; 209, short transmission shaft; 210, long transmission shaft; 211, lifting plate; 212, first motor seat; 213, first reduction motor;

[0038] 3, driven wheel assembly; 301, driven wheel panel; 302, encoder mounting plate; 303, detection shaft; 304, encoder;

[0039] 4, six-axis picking mechanism; 41, short module; 42, long module; 43, longitudinal module; 401, short module mounting seat; 402, first module connecting plate; 403, short drag chain support plate; 404, short drag chain; 405, drag chain lifting plate; 406, short drag chain mounting seat; 407, long drag chain support plate; 408, long drag chain; 409, long drag chain mounting seat; 410, second module connecting plate; 411, lifting seat ; 412, hoisting adjustment block; 413, guide rail bottom plate; 414, first slider; 415, guide rail; 416, top panel; 417, bottom panel; 418, longitudinal module base; 419, vertical guide rail; 420, second slider; 421, slide bottom; 422, slide top; 423, screw shaft; 424, screw flange nut; 425, servo motor; 426, flat synchronous wheel; 427, synchronous belt;

[0040] 5, end manipulator; 501, end base; 502, distance measuring seat; 503, distance meter; 504, first motor tail; 505, first motor head; 506, second motor seat; 507, lifting flange; 508, first bearing; 509, middle frame; 510, third motor seat; 511, second motor tail; 512, second motor head; 513, side flange; 514, second bearing; 515, end cover; 516, end face shaft; 517, third bearing; 518, lower frame; 519, gripper frame; 520, nut seat; 521, nut flange; 522, claw; 523, screw motor;

[0041] 6, conveying mechanism; 601, conveying mechanism base; 602, conveying wheel bearing seat; 603, conveying driven wheel shaft; 604, conveying driving wheel shaft; 605, conveyor belt; 606, straddle plate; 607, fourth motor seat; 608, second reduction motor;

[0042] 7, camera; 8, sub-control cabinet; 9, main control cabinet.

[0043] like Figure 1 As shown, an embodiment of the present invention provides a double-row six-axis Agaricus bisporus picking device, including an equipment base 1, the bottom of the equipment base 1 has a driving wheel group 2 and a driven wheel group 3 that can move along the track of the Agaricus bisporus planting rack, and two six-axis picking mechanisms 4 are arranged at intervals at the bottom of the equipment base 1. The picking ranges of the two six-axis picking mechanisms 4 have overlapping parts in the middle of the equipment base 1, and the picking ranges of the two six-axis picking mechanisms 4 can cover the width direction of the planting rack. A conveying mechanism 6 is arranged between the two six-axis picking mechanisms 4. After the six-axis picking mechanism 4 pulls the Agaricus bisporus out of the mushroom bed of the planting rack, the Agaricus bisporus is placed on the conveying mechanism 6, and the conveying mechanism 6 transports the picking device out. A sub-control cabinet 8 is arranged between the two six-axis picking mechanisms 4 and the equipment base 1, and a main control cabinet 9 is arranged on the equipment base 1 at one end of the driven wheel group 3.

[0044] like Figure 2 As shown, the driving wheel group 2 includes a hoisting plate 211 and a first reduction motor 213. The hoisting plate 211 is fastened to the equipment base 1. The first reduction motor 213 is fixed to the hoisting plate 211 through the first motor seat 212. The driving wheel panels 206 are fixed on both sides of the equipment base 1. A pair of bearing seats 208 are fixed on the upper and lower sides of the driving wheel panels 206, wherein the upper bearing seat 208 is fixed to the driving wheel panel 206 through the wheel panel pad 207, so that the bearing seat 208 is lifted to a certain height. A short transmission shaft 209 is rotatably arranged on the upper bearing seat 208, and a wheel axle 205 is rotatably arranged on the lower bearing seat 208. A wheel hub 202 is arranged at the end of the wheel axle 205. The wheel hub 202 is fastened to the wheel axle 205 through the wheel outer pressure plate 203 and the wheel inner pressure plate 204, and a wheel rim 201 is glued to the outer periphery of the wheel hub 202. The short transmission shaft 209 and the wheel axle 205 are driven by a synchronous belt. The short transmission shaft 209 is connected to the output end of the first reduction motor 213 through the long transmission shaft 210. The wheel hub 202 is driven by the first reduction motor 213 via the long transmission shaft 210, the short transmission shaft 209, the synchronous belt, and the wheel axle 205.

[0045] Combination Figure 3The driven wheel group 3 includes a driven wheel panel 301 fixed to both sides of the equipment base 1. A pair of bearing seats 208 are fixed on the upper and lower sides of the driven wheel panel 301. A detection shaft 303 is rotatably arranged on the upper bearing seat 208, and a wheel axle 205 is rotatably arranged on the lower bearing seat 208. A wheel hub 202 is arranged at the end of the wheel axle 205. The wheel hub 202 is fastened to the wheel axle 205 through the outer wheel pressure plate 203 and the inner wheel pressure plate 204. The outer periphery of the wheel hub 202 is glued with a wheel rim 201. The detection shaft 303 and the wheel axle 205 are driven by a synchronous belt. An encoder 304 is fixed to the driven wheel panel 301 through an encoder mounting plate 302. The encoder 304 is connected to one end of the detection shaft 303 and is used to detect the rotation data of the driven wheel group 3.

[0046] like Figure 4 As shown, the six-axis picking mechanism 4 includes a three-axis module and an end manipulator 5, and the three-axis module is used to drive the end manipulator 5 to move along the X, Y, and Z axes.

[0047] The three-axis module includes a short module 41, a long module 42 and a longitudinal module 43. The short module 41 is arranged along the moving direction of the equipment base 1 and is fixedly connected to the equipment base 1 through the short module mounting seat 401. The movable part of the short module 41 is fastened to the first module connecting plate 402, and the movable part of the short module 41 moves along a straight line within the travel range of the short module 41. A drag chain hoisting plate 405 is provided on the top of the first module connecting plate 402, and both ends of the short drag chain mounting seat 406 are fastened to the equipment base 1 and the drag chain hoisting plate 405, respectively. The movable end and the fixed end of the drag chain 404 are fixed to the short drag chain mounting seat 406 and the short drag chain supporting plate 403, respectively.

[0048] The long module 42 is arranged perpendicular to the moving direction of the equipment base 1. One end of the long module 42 is fastened to the first module connecting plate 402, and the other end of the long module 42 is fastened to the second module connecting plate 410. The second module connecting plate 410 is connected to the first slider 414 on the guide rail 415. The guide rail 415 is arranged parallel to the short module 41. When the long module 42 moves along the short module 41, it also moves along the guide rail 415. The guide rail bottom plate 413 for fixing the guide rail 415 is fastened to the hoisting adjustment block 412. The hoisting seat 411 is fixedly connected to the equipment base 1. The hoisting adjustment block 412 is hoisted and connected to the hoisting seat 411 by bolts and locked by nuts. The horizontal height and angle of the hoisting adjustment block 412 can be adjusted by adjusting the bolts. The movable part of the long module 42 moves along a straight line within the travel range of the long module 42.

[0049] Combination Figure 5The longitudinal module 43 includes a longitudinal module base 418 and a screw shaft 423. The longitudinal module base 418 is fixed on the movable part of the long module 42. The movable part of the longitudinal module 43 includes a screw flange nut 424 and a slide bottom 421 and a slide top 422 which are sleeved and fastened on the screw flange nut 424. The top and bottom of the longitudinal module base 418 are respectively provided with a top panel 416 and a bottom panel 417. The screw shaft 423 is rotatably connected between the top panel 416 and the bottom panel 417 through a bearing. The screw flange nut 424 and the screw shaft 423 are threadedly driven. A vertical guide rail 419 is provided on the surface of the longitudinal module base 418. A second slider 420 is slidably provided on the vertical guide rail 419. The slide bottom 421 is fastened to the second slider 420. A flat synchronous wheel 426 is provided on the top of the screw shaft 423, and a servo motor 425 is fixed to the bottom of the top panel 416. The servo motor 425 is located on the side of the longitudinal module base 418. The output end of the servo motor 425 is connected to the screw shaft 423 through the flat synchronous wheel 426 and the synchronous belt, so that the screw flange nut 424 and the slide top 422 move in a straight line within the travel range.

[0050] like Figure 6 and Figure 7 As shown, the end manipulator 5 includes an end base 501 and a plurality of claws 522 . The end base 501 is fixed on the top of the slide 422 , and a distance meter 503 is fixed to the lower end surface of the end base 501 through a distance measuring seat 502 . A first motor is vertically fixed on the terminal base 501, and the first motor includes a first motor tail 504 and a first motor head 505. The first motor tail 504 is fastened to the terminal base 501 through the second motor seat 506, the upper end face of the inner ring of the first bearing 508 is pressed against and fitted with the hanging flange 507, the lower end face of the outer ring of the first bearing 508 is fitted with the terminal base 501, the upper end face of the outer ring of the first bearing 508 is fitted with the second motor seat 506, the first motor head 505 is fastened to the hanging flange 507, the first motor head 505 and the first motor tail 504 are the rotor part and the fixed part of a motor, the middle frame 509 is fixedly connected to the lower end face of the hanging flange 507, and the two end faces extend out from both sides below the middle frame 509, and each end face is provided with two through holes of different sizes.

[0051] A second motor is horizontally fixed outside the large through hole on the end surface extending below the middle frame 509. The second motor includes a second motor tail 511 and a second motor head 512. The second motor tail 511 is fastened to the middle frame 509 through the third motor seat 510. The outer end surface of the inner ring of the second bearing 514 is pressed against and fitted with the side flange 513. The inner end surface of the outer ring of the second bearing 514 is fitted with the middle frame 509. The outer end surface of the outer ring of the second bearing 514 is fitted with the third motor seat 510. The second motor head 512 is fastened to the side flange 513. The second motor head 512 and the second motor tail 511 are the rotor part and the fixed part of a motor. An end cover 515 and a third bearing 517 are provided outside the small through hole on the end surface extending below the middle frame 509. One end of the lower frame 518 is fixedly connected to the side flange 513, and the other end thereof is rotatably connected to the small through hole on the end surface extending below the middle frame 509 through the end face shaft 516 and the third bearing 517. A gripper frame 519 is provided in the lower frame 518, and the bottom of the gripper frame 519 is hingedly connected to the rear end hole of the claw 522. A screw motor 523 is provided on the upper part of the gripper frame 519. The screw at the bottom of the screw motor 523 has a nut flange 521 that moves in a straight line. A nut seat 520 is fixed on the nut flange 521, and the nut seat 520 is connected to the waist hole groove at the front end of the claw 522; the screw motor 523 drives the nut flange 521 and the nut seat 520 to move vertically, so that the multiple claws 522 rotate around the rear end hole to complete the grasping and releasing actions.

[0052] The three-axis module is used to move the end manipulator 5 to the picking position. The end manipulator 5 changes the posture of the claw 522 by rotating around the vertical axis and the horizontal axis, and then the screw motor 523 drives the claw 522 to complete the grasping and releasing actions.

[0053] like Figure 8 As shown, the conveying mechanism 6 includes a conveying mechanism base 601, a pair of conveying wheel bearing seats 602 are respectively provided at both ends of the conveying mechanism base 601, and a conveying driving wheel shaft 604 and a conveying driven wheel shaft 603 are respectively provided on the conveying wheel bearing seats 602 at the head end and the tail end, and two conveying belts 605 are arranged between the conveying driving wheel shaft 604 and the conveying driven wheel shaft 603, and the middle part of the two conveying belts 605 is a space for the Agaricus bisporus umbrella handle to pass through, and the bearing surfaces of the two conveying belts 605 are used to carry the Agaricus bisporus umbrella surface. In this embodiment, the spacing between the two conveying belts 605 is 20 to 35 mm. A cross-mounted plate 606 is provided at the head end of the conveying mechanism base 601, and a second reduction motor 608 is fixed on the cross-mounted plate 606 through a fourth motor seat 607, and the conveying belt 605 is driven by the second reduction motor 608 through the synchronous pulley and synchronous belt on the conveying driving wheel shaft 604.

[0054] In this embodiment, two cameras 7 are respectively provided above the two six-axis picking mechanisms 4. The cameras 7 are used to collect images of Agaricus bisporus in the target picking area. A visual processing module is provided in the main control cabinet 9. The visual processing module splices the pictures collected by the cameras 7 and calculates the Agaricus bisporus distribution data of the corresponding areas of each six-axis picking mechanism. The data is handed over to the host computer to calculate the picking order and picking action, and then handed over to the sub-control cabinet 8 to drive the six-axis picking mechanism 4 to complete the picking action.

[0055] The embodiment of the present invention further provides a picking method of the double-row six-axis Agaricus bisporus picking device according to the embodiment of the present invention, comprising:

[0056] 1) The picking equipment moves to the picking area;

[0057] 2) The camera 7 collects images of Agaricus bisporus in the picking area, determines the Agaricus bisporus to be picked through computer vision, and plans the picking order, picking action and angle (this part of visual processing and action planning is the prior art);

[0058] 3) The two six-axis picking mechanisms 4 work separately, and the three-axis module moves the end manipulator 5 to the top of the target Agaricus bisporus, and the rangefinder 503 is aimed at the target Agaricus bisporus to obtain the moving distance of the longitudinal module 43;

[0059] 4) The three-axis module moves the end manipulator 5 to the picking position, and the end manipulator 5 uses the first motor and the second motor to make the claw 522 perform a wrist-like picking action at a corresponding angle, and the screw motor 523 drives the claw 522 to complete the picking action; then the three-axis module cooperates with the end manipulator 5 to slightly move, so that the mushroom handle rotates 3 to 10 degrees around the root of the handle and then pulls up the mushroom;

[0060] 5) The six-axis picking mechanism 4 places the Agaricus bisporus on the conveying mechanism 6, which then transports the Agaricus bisporus out of the picking device.

Claims

1. A double-row six-axis Agaricus bisporus picking device, comprising an equipment base (1), the bottom of the equipment base (1) having a driving wheel group (2) and a driven wheel group (3) capable of moving along the track of an Agaricus bisporus planting rack, and a camera (7) for collecting Agaricus bisporus images is arranged on the equipment base (1), characterized in that: Two six-axis picking mechanisms (4) are arranged at intervals at the bottom of the equipment base (1), and the picking ranges of the two six-axis picking mechanisms (4) cover the width direction of the planting frame; a conveying mechanism (6) is arranged between the two six-axis picking mechanisms (4) and is used to convey the Agaricus bisporus picked by the six-axis picking mechanisms (4) out of the picking equipment; The six-axis picking mechanism (4) comprises a three-axis module and an end manipulator (5), wherein the three-axis module is used to drive the end manipulator (5) to move along the X, Y and Z axes; The terminal manipulator (5) comprises a terminal base (501) and a plurality of claws (522); a distance meter (503) is fixed to the lower end surface of the terminal base (501) via a distance measuring seat (502); a first motor is vertically fixed to the terminal base (501); an intermediate frame (509) is installed at the output end of the first motor; a second motor is horizontally fixed to the intermediate frame (509); a lower frame (518) is installed at the output end of the second motor; the other end of the lower frame (518) is rotatably matched with the intermediate frame (509); a gripper frame (518) is provided inside the lower frame (518); 519), the bottom of the gripper frame (519) is hingedly connected to the rear end hole of the claw (522), a screw motor (523) is provided on the upper part of the gripper frame (519), a screw at the bottom of the screw motor (523) is provided with a nut flange (521) that moves along a straight line, a nut seat (520) is fixed on the nut flange (521), and the nut seat (520) is connected to the waist hole groove at the front end of the claw (522); the screw motor (523) drives the nut flange (521) and the nut seat (520) to move vertically, so that the claw (522) rotates around the rear end hole to complete the grasping and releasing actions.

2. The double-row six-axis Agaricus bisporus picking device according to claim 1, characterized in that: The picking ranges of the two six-axis picking mechanisms (4) have an overlapping portion in the middle of the device base (1).

3. The double-row six-axis Agaricus bisporus picking device according to claim 1, characterized in that: The three-axis module comprises a short module (41), a long module (42) and a longitudinal module (43); the short module (41) is arranged along the moving direction of the device base (1) and is fixedly connected to the device base (1) via a short module mounting seat (401); the long module (42) is arranged perpendicular to the moving direction of the device base (1); one end of the long module (42) is fixed to the movable part of the short module (41) via a first module connecting plate (402); the movable part of the short module (41) moves along a straight line within the travel range of the short module (41); the other end of the long module (42) is fixed with a second module connecting plate (410); the second module connecting plate (410) is connected to the guide rail (415) The first slider (414) is provided on the short module (41); the guide rail (415) is arranged parallel to the short module (41); the guide rail bottom plate (413) for fixing the guide rail (415) is tightly connected to the lifting adjustment block (412); the lifting seat (411) is fixedly connected to the equipment base (1); the lifting adjustment block (412) is liftingly connected to the lifting seat (411) by bolts; the horizontal height and angle of the lifting adjustment block (412) can be adjusted by adjusting the bolts; the back side of the longitudinal module (43) is fixed to the movable part of the long module (42); the movable part of the long module (42) moves along a straight line within the travel range of the long module (42); and the terminal base (501) is installed on the movable part of the longitudinal module (43).

4. The double-row six-axis Agaricus bisporus picking device according to claim 3, characterized in that: The movable part of the longitudinal mold group (43) includes a screw flange nut (424) and a slide bottom (421) and a slide top (422) which are sleeved and fastened on the screw flange nut (424); the longitudinal mold group (43) includes a longitudinal mold group base (418) and a screw shaft (423); the top and bottom of the longitudinal mold group base (418) are respectively provided with a top panel (416) and a bottom panel (417); the screw shaft (423) is rotatably connected between the top panel (416) and the bottom panel (417); the screw flange nut (424) and the screw shaft (423) are threadedly driven; the surface of the longitudinal mold group base (418) A vertical guide rail (419) is provided, a second slider (420) is slidably provided on the vertical guide rail (419), and the bottom of the slide (421) is tightly connected to the second slider (420); a flat synchronous wheel (426) is provided on the top of the screw shaft (423), a servo motor (425) is fixed on the bottom of the top panel (416), and the output end of the servo motor (425) is transmission-connected to the screw shaft (423) through the flat synchronous wheel (426) and a synchronous belt, so that the screw flange nut (424) and the slide top (422) move in a straight line within a travel range; and the terminal base (501) is fixed on the slide top (422).

5. The double-row six-axis Agaricus bisporus picking device according to claim 1, characterized in that: The conveying mechanism (6) comprises a conveying mechanism base (601), a pair of conveying wheel bearing seats (602) are respectively arranged at both ends of the conveying mechanism base (601), a conveying driving wheel shaft (604) and a conveying driven wheel shaft (603) are respectively arranged on the conveying wheel bearing seats (602) at the head end and the tail end, two conveying belts (605) are arranged between the conveying driving wheel shaft (604) and the conveying driven wheel shaft (603), the middle part of the two conveying belts (605) is a space for the Agaricus bisporus umbrella handle to pass through, and the bearing surfaces of the two conveying belts (605) are used to bear the Agaricus bisporus umbrella surface; a straddle plate (606) is arranged at the head end of the conveying mechanism base (601), a second reduction motor (608) is fixed on the straddle plate (606) through a fourth motor seat (607), and the conveying belt (605) is driven by the second reduction motor (608) through a synchronous pulley and a synchronous belt on the conveying driving wheel shaft (604).

6. The double-row six-axis Agaricus bisporus picking device according to claim 5, characterized in that: The distance between the two conveyor belts (605) is 20 to 35 mm.

7. The double-row six-axis Agaricus bisporus picking device according to claim 1, characterized in that: The driving wheel assembly (2) comprises a hanging plate (211) and a first reduction motor (213); the hanging plate (211) is fastened to the equipment base (1); the first reduction motor (213) is fixed to the hanging plate (211) via a first motor seat (212); driving wheel panels (206) are fixed on both sides of the equipment base (1); a pair of bearing seats (208) are fixed on the upper and lower sides of the driving wheel panels (206); the upper bearing seat ( A short transmission shaft (209) is rotatably arranged on the bearing seat (208), a wheel axle (205) is rotatably arranged on the lower side bearing seat (208), a wheel hub (202) is fixed at the end of the wheel axle (205), and a wheel rim (201) is arranged on the wheel hub (202); the short transmission shaft (209) and the wheel axle (205) are driven by a synchronous belt; the short transmission shaft (209) is connected to the output end of the first reduction motor (213) through a long transmission shaft (210).

8. The double-row six-axis Agaricus bisporus picking device according to claim 1, characterized in that: The driven wheel assembly (3) comprises a driven wheel panel (301) fixed to both sides of the equipment base (1); a pair of bearing seats (208) are fixed on the lower side of the driven wheel panel (301); a wheel axle (205) is rotatably arranged on the lower bearing seat (208); a wheel hub (202) is fixed at the end of the wheel axle (205); and a wheel rim (201) is arranged on the wheel hub (202).

9. The double-row six-axis Agaricus bisporus picking device according to claim 8, characterized in that: A pair of bearing seats (208) are also fixed on the upper side of the driven wheel panel (301), and a detection shaft (303) is rotatably arranged on the upper bearing seat (208), and the detection shaft (303) and the wheel shaft (205) are driven by a synchronous belt; an encoder (304) is fixed on the driven wheel panel (301) through an encoder mounting plate (302), and the encoder (304) is connected to one end of the detection shaft (303) for detecting the rotation data of the driven wheel group (3).

10. A picking method for the double-row six-axis Agaricus bisporus picking device according to claim 1, characterized in that: include: 1) The picking equipment moves to the picking area; 2) The camera (7) collects images of Agaricus bisporus in the picking area, determines the Agaricus bisporus to be picked through computer vision, and plans the picking order, picking movements and angles; 3) The two six-axis picking mechanisms (4) work separately, and the three-axis module moves the end manipulator (5) to the top of the target Agaricus bisporus, and the rangefinder (503) is aimed at the target Agaricus bisporus to obtain the moving distance of the longitudinal module (43); 4) The three-axis module moves the end manipulator (5) to the picking position, and the end manipulator (5) causes the claw (522) to perform a wrist-like picking action at a corresponding angle through the first motor and the second motor, and the screw motor (523) drives the claw (522) to complete the picking action; the three-axis module cooperates with the end manipulator (5) to make a micro-motion, so that the mushroom bisporus umbrella handle rotates 3 to 10 degrees around the umbrella handle root, and then the mushroom bisporus is pulled up; 5) The six-axis picking mechanism (4) places the Agaricus bisporus on the conveying mechanism (6), which then transports the Agaricus bisporus out of the picking device.

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