Intelligent collection robot capable of being used for collecting agaricus bisporus

Abstract

The invention relates to an intelligent collection robot capable of being used for collecting agaricus bisporus, and solves the technical problems that when an existing agaricus bisporus automatic picking robot is used for collecting picked agaricus bisporus, manpower is consumed, efficiency is low, and the collection number is small. The automatic feeding device comprises a rack, a charging basket input device, a charging basket putting device, a conveying belt, a material receiving and collecting device and a material collecting barrel lifting device, the charging basket input device is located under the charging basket putting device, the conveying belt is connected with the bottom of the rack, the charging basket input device is located on one side of the conveying belt, and a material collecting barrel of the material receiving and collecting device is connected with the material collecting barrel lifting device. The method is widely applied to collection of agaricus bisporus planted in factories.

Description

Technical Field

[0001] The invention relates to the technical field of automatic Agaricus bisporus picking, and in particular to an intelligent collecting robot capable of collecting Agaricus bisporus. Background Art

[0002] Agaricus bisporus (scientific name: Agaricus bisporus) is a common edible fungus. It has extremely high nutritional and medicinal value. It can be processed into various foods, health products, and even medicines. It has considerable economic value.

[0003] Agaricus bisporus cultivation has achieved factory-based large-scale production. Agaricus bisporus cultivation in factory-based mushroom houses is not restricted by seasons. Mushrooms can be grown every day and all year round, with high yield and good benefits. Factory-based mushroom houses are generally 20 to 30 meters long, 6 to 10 meters wide, and 5 to 6 meters high. 2 to 4 rows of multi-layer bed frames can be set along the length of the mushroom house. The bed frames are mostly made of metal structural profiles, with a bed width of 1 to 1.6 meters, 5 to 6 layers, and a layer spacing of 50 to 70 centimeters. The distance between the bottom layer of the bed frame and the ground is about 30 centimeters, and the top layer is more than 1 meter from the roof. The passage between the bed frames is 80 to 100 centimeters wide, and the passage between the bed frame and the wall is 40 to 80 centimeters wide.

[0004] The growth of Agaricus bisporus colonies is highly random. Agaricus bisporus has unique growth characteristics. On the one hand, it grows in groups. Agaricus bisporus exists in the form of mycelium, which can be connected to form a large group. Under a suitable environment, the mycelium of Agaricus bisporus will rapidly multiply and spread, forming a dense mycelium network. The mycelium is intertwined and tightly attached to each other, forming a state of staggered and overlapping growth. On the other hand, the spore-producing characteristics, under a suitable environment, Agaricus bisporus can quickly produce a large number of fruiting bodies, thereby achieving rapid population diffusion. The above growth characteristics determine that the Agaricus bisporus group will form a tight group growth state (i.e., the Agaricus bisporus group grows in clusters). The size, shape, and density of the Agaricus bisporus group are diverse, and there is a phenomenon of mutual overlap between adjacent mushrooms.

[0005] The cultivation of Agaricus bisporus is a labor-intensive industry. In recent years, the labor cost has been getting higher and higher. Agaricus bisporus has the biological characteristics of uneven size and 24-hour growth, which has high requirements for labor picking skills and working hours. The high labor cost problem faced by Agaricus bisporus cultivation factories is becoming more and more serious. Automatic picking and harvesting by automatic picking robots can save manpower, improve efficiency and reduce costs. Regarding the structure and working method of the automatic picking robot, reference can be made to the invention application with application publication number CN 113940239 A and the name of "Intelligent Picking System", and the utility model patent with authorization announcement number "CN217372374U" and the name of "A Mobile Agaricus Picking Robot", and the invention patent application with application publication number CN114847091A and the name of "A Control System and Control Method for Agaricus bisporus Picking Device", and the invention patent application with application publication number CN115474513A and the name of "A Picking Device, End Effector, Picking Rack and Picking Method".

[0006] However, during the operation of the existing automatic picking robots, the process of collecting the picked Agaricus bisporus needs to be improved. The current collection method mainly has technical defects such as labor-intensive, low efficiency and small collection quantity. Summary of the invention

[0007] The present application aims to solve the technical problems that the existing automatic Agaricus bisporus picking robots are labor-intensive, inefficient and collect a small amount of Agaricus bisporus, and to provide an intelligent collection robot that is more efficient and reduces labor consumption and can be used to collect Agaricus bisporus.

[0008] In a first aspect of the present disclosure, there is provided an intelligent collection robot capable of collecting Agaricus bisporus, comprising a frame, a material basket input device, a material basket delivery device, a conveyor belt, a material receiving and collecting device, and a material collecting barrel lifting device;

[0009] The material basket delivery device includes a top frame, a bottom frame, a front and rear clamping drive motor, a first toothed belt, a driven gear connecting plate, a driven gear, a driving gear, a first connecting plate, a second connecting plate, a front transverse plate, a rear transverse plate, a left slide rail assembly, a right slide rail assembly, a front vertical plate, a rear vertical plate, a left front splint, a right front splint, a left rear splint, a first left and right clamping drive motor, a driving synchronous pulley 1, a driven synchronous pulley 1, a connecting piece 1, a connecting piece 2, an upper slide rail assembly 1, a lower slide rail assembly 1, a second left and right clamping drive motor, a synchronous belt 1, a driving synchronous pulley 2, a driven synchronous pulley 2, a synchronous belt 2, a connecting piece 3, a connecting piece 4, an upper slide rail assembly 2, a lower slide rail assembly 2, a lifting plate, a left material picking plate, a right material picking plate, a lifting mechanism, an upper slide rail assembly Part three, lower slide rail assembly three, material picking plate drive motor, active pulley, driven pulley, transverse belt, belt connecting plate 1 and belt connecting plate 2, front and rear clamping drive motors are fixedly connected to the top frame, the driven gear connecting plate is connected to the top frame, the driven gear is rotatably connected to the driven gear connecting plate, the active gear is connected to the output shaft of the front and rear clamping drive motors, the first toothed belt is connected between the active gear and the driven gear, the front transverse plate is connected to the first toothed belt through the first connecting plate, and the rear transverse plate is connected to the first toothed belt through the second connecting plate, the left slide rail assembly and the right slide rail assembly are respectively connected to the top frame, the first slider of the left slide rail assembly is connected to the front transverse plate, the first slider of the right slide rail assembly is connected to the front transverse plate, and the second slider of the left slide rail assembly is connected to the rear transverse plate The second slider of the right slide rail assembly is connected to the rear transverse plate, the front vertical plate is fixedly connected to the front transverse plate, the rear vertical plate is fixedly connected to the rear transverse plate, the first left and right clamping drive motors are fixedly connected to the front vertical plate, the active synchronous pulley 1 is connected to the output shaft of the first left and right clamping drive motors, the driven synchronous pulley 1 is rotatably connected to the front vertical plate, the synchronous belt 1 is connected between the driven synchronous pulley 1 and the active synchronous pulley 1, the upper slide rail assembly 1 and the lower slide rail assembly 1 are respectively fixedly connected to the front vertical plate, the first slider of the upper slide rail assembly 1 is connected to the left front splint, the first slider of the lower slide rail assembly 1 is connected to the left front splint, and the left front splint is connected to the synchronous belt 1 through a connecting piece 1; the second slider of the upper slide rail assembly 1 is connected to the right front splint, and the second slider of the lower slide rail assembly 1 is connected to the right front The plywood is connected, and the right front plywood is connected to the synchronous belt one through the connecting piece two; the second left and right clamping drive motor is fixedly connected to the rear vertical plate, the active synchronous pulley two is connected to the output shaft of the second left and right clamping drive motor, the driven synchronous pulley two is rotatably connected to the rear vertical plate, the synchronous belt two is connected between the active synchronous pulley two and the driven synchronous pulley two, the upper slide rail assembly two and the lower slide rail assembly two are respectively fixedly connected to the rear vertical plate, the first slider of the upper slide rail assembly two is connected to the left rear plywood, the first slider of the lower slide rail assembly two is connected to the left rear plywood, the left rear plywood is connected to the synchronous belt two through the connecting piece three, the second slider of the upper slide rail assembly two is connected to the right rear plywood, the second slider of the lower slide rail assembly two is connected to the right rear plywood, and the right rear plywood is connected to the synchronous belt two through the connecting piece four;The upper slide rail assembly three and the lower slide rail assembly three are fixedly connected to the lifting plate respectively, the feeding plate driving motor is fixedly connected to the lifting plate, the active pulley is connected to the output shaft of the feeding plate driving motor, the driven pulley is rotatably connected to the lifting plate, and the transverse belt is connected between the driven pulley and the active pulley, the first slider of the upper slide rail assembly three is fixedly connected to the belt connecting plate one, the first slider of the lower slide rail assembly three is fixedly connected to the belt connecting plate one, the upper end of the belt connecting plate one is connected to the upper part of the transverse belt through a connecting piece, the second slider of the upper slide rail assembly three is fixedly connected to the belt connecting plate two, the second slider of the lower slide rail assembly three is fixedly connected to the belt connecting plate two, and the upper end of the belt connecting plate two is connected to the lower part of the transverse belt through a connecting piece; the left feeding plate is connected to the belt connecting plate two, and the right feeding plate is connected to the belt connecting plate one; the lifting mechanism is connected to the lifting plate; the left feeding plate is located on the outside of the left rear splint, and the right feeding plate is located on the outside of the right rear splint; the top frame is fixedly connected to the side of the frame, the bottom frame is fixedly connected to the side of the frame, and the lifting mechanism is fixedly connected to the bottom frame;

[0010] The material basket input device is connected to the bottom frame of the material basket delivery device, and the material basket input device is located below the left and right material taking plates of the material basket delivery device;

[0011] The conveyor belt is connected to the bottom of the frame, and the basket input device is located on one side of the conveyor belt;

[0012] The material receiving and collecting device comprises a material receiving barrel, a first material receiving ramp plate, a second material receiving ramp plate, a third material receiving ramp plate, a first telescopic hose and a positioning plate at the lower end of the first telescopic hose, the material receiving barrel is provided with a first inlet, a second inlet and a third inlet, the first material receiving ramp plate is connected to the material receiving barrel, the first material receiving ramp plate is provided with a slope 1, and the slope 1 is located at the first inlet, the second material receiving ramp plate is connected to the material receiving barrel, the second material receiving ramp plate is provided with a slope 1, and the slope 1 of the second material receiving ramp plate is located at the second inlet, the third material receiving ramp plate is connected to the material receiving barrel, the third material receiving ramp plate is provided with a slope 1, and the slope 1 of the third material receiving ramp plate is located at the entrance of the third inlet; the upper end of the first telescopic hose is connected to the lower end of the material receiving barrel;

[0013] The lower end positioning plate of the first telescopic hose of the material receiving and collecting device is fixedly connected to the frame, and the lower end of the first telescopic hose is connected to the lower end positioning plate of the first telescopic hose.

[0014] The material receiving barrel lifting device is connected to the left end portion of the frame, and the material receiving barrel of the material receiving device is connected to the material receiving barrel lifting device.

[0015] Preferably, the material receiving and collecting device also includes a second telescopic hose, a first hose connector, a second hose connector, a third hose connector, a first pipeline, a second pipeline and a material guiding chute, the first material receiving ramp plate is provided with a second ramp, the second material receiving ramp plate is provided with a second ramp, the third material receiving ramp plate is provided with a second ramp, the first hose connector is connected to the first material receiving ramp plate, the first hose connector is communicated with the second ramp of the first material receiving ramp plate, the second hose connector is connected to the second material receiving ramp plate, the second hose connector is communicated with the second ramp of the second material receiving ramp plate, the third hose connector is connected to the third material receiving ramp plate, the third hose connector is communicated with the second ramp of the third material receiving ramp plate, the first pipeline The upper end is connected to the first hose connector, the lower end of the first pipe is connected to the second hose connector, and the connection between the lower end of the first pipe and the second hose connector is provided with an opening connected to the slope 2 of the second material receiving slope plate; the upper end of the second pipe is connected to the second hose connector, the lower end of the second pipe is connected to the third hose connector, and the connection between the lower end of the second pipe and the third hose connector is provided with an opening connected to the slope 2 of the third material receiving slope plate; the upper end of the second telescopic hose is connected to the third hose connector, and the lower end of the second telescopic hose is connected to the lower end positioning plate of the first telescopic hose; the material guiding chute is connected to the lower end positioning plate of the first telescopic hose, and the material guiding chute is connected to the lower end of the second telescopic hose.

[0016] Preferably, the material basket input device includes a fixed bottom plate, a left vertical plate, a right vertical plate, a roller drive motor, an active roller, a first driven roller, a second driven roller, a third driven roller, a fourth driven roller, a fifth driven roller, a sixth driven roller, a seventh driven roller, a first passive roller, a second passive roller, a first active synchronous pulley, a first driven synchronous pulley, a first synchronous belt, a first double-groove synchronous pulley, a second double-groove synchronous pulley, a third double-groove synchronous pulley, a fourth double-groove synchronous pulley, a fifth double-groove synchronous pulley, a sixth double-groove synchronous pulley, a seventh double-groove synchronous pulley, a clamping drive motor, a synchronous belt transmission mechanism, a bidirectional screw, a first guide light axis, a second guide light axis, a left nut seat, a right nut seat, a left sliding block, and a right sliding block , a left connecting frame, a right connecting frame, a left clamping plate and a right clamping plate, the left vertical plate is fixedly connected to the fixed bottom plate, the right vertical plate is fixedly connected to the fixed bottom plate, the roller driving motor is connected to the left vertical plate, the left end of the active roller is rotatably connected to the left vertical plate, the right end of the active roller is rotatably connected to the right vertical plate, the left end of the first driven roller is rotatably connected to the left vertical plate, the right end of the first driven roller is rotatably connected to the right vertical plate, the left ends of the second driven roller, the third driven roller, the fourth driven roller, the fifth driven roller, the sixth driven roller and the seventh driven roller are rotatably connected to the left vertical plate respectively, and the right ends of the second driven roller, the third driven roller, the fourth driven roller, the fifth driven roller, the sixth driven roller and the seventh driven roller are respectively The first driven roller and the second driven roller are connected in rotation, and the left ends of the first driven roller and the second driven roller are connected in rotation with the left vertical plate respectively, and the right ends of the first driven roller and the second driven roller are connected in rotation with the right vertical plate respectively. The first driven roller, the second driven roller, the active roller, the first driven roller, the second driven roller, the third driven roller, the fourth driven roller, the fifth driven roller, the sixth driven roller and the seventh driven roller are arranged side by side. The first active synchronous pulley is connected to the output shaft of the roller driving motor, the first driven synchronous pulley is connected to the left end of the active roller, the first synchronous belt is connected between the first active synchronous pulley and the first driven synchronous pulley, the first double-groove synchronous pulley is connected to the left end of the first driven roller, the second double-groove synchronous pulley is connected to the left end of the second driven roller, and the third The double-groove synchronous pulley, the 4th double-groove synchronous pulley, the 5th double-groove synchronous pulley, the 6th double-groove synchronous pulley and the 7th double-groove synchronous pulley are respectively connected to the left ends of the third driven roller, the fourth driven roller, the fifth driven roller, the sixth driven roller and the seventh driven roller, the 1st double-groove synchronous pulley is connected to the 1st driven synchronous pulley through a synchronous belt, the 2nd double-groove synchronous pulley is connected to the 1st double-groove synchronous pulley through a synchronous belt, the 3rd double-groove synchronous pulley is connected to the 2nd double-groove synchronous pulley through a synchronous belt, the 4th double-groove synchronous pulley is connected to the 3rd double-groove synchronous pulley through a synchronous belt, the 5th double-groove synchronous pulley is connected to the 4th double-groove synchronous pulley through a synchronous belt, the 6th double-groove synchronous pulley is connected to the 5th double-groove synchronous pulley through a synchronous belt,The 7th double-groove synchronous pulley is connected to the 6th double-groove synchronous pulley through a synchronous belt; the clamping drive motor is connected to the left vertical plate, the left end of the bidirectional screw is rotatably connected to the left vertical plate, the right end of the bidirectional screw is rotatably connected to the right vertical plate, the output shaft of the clamping drive motor is connected to the left end of the bidirectional screw through a synchronous belt transmission mechanism, the left ends of the first guide light axis and the second guide light axis are respectively fixedly connected to the left vertical plate, the right ends of the first guide light axis and the second guide light axis are respectively fixedly connected to the right vertical plate, the left nut seat is connected and matched with the left part of the bidirectional screw, the right nut seat is connected and matched with the right part of the bidirectional screw, the left sliding block is fixedly connected to the left nut seat, the right sliding block is fixedly connected to the right nut seat, the left sliding block sleeve and the right sliding block are respectively sleeved on the first guide light axis for sliding connection, the left The side sliding block sleeve and the right sliding block are respectively sleeved on the second guide optical axis for sliding connection, the left connecting frame is fixedly connected to the left sliding block, the right connecting frame is fixedly connected to the right sliding block, the left clamping plate is connected to the left connecting frame, and the right clamping plate is connected to the right connecting frame; the bidirectional screw is located below the third driven roller; the first upper part of the left connecting frame passes upward through the gap between the active roller and the first driven roller, the second upper part of the left connecting frame passes upward through the gap between the fourth driven roller and the fifth driven roller, the left clamping plate is located above the first driven roller, the first upper part of the right clamping plate passes upward through the gap between the active roller and the first driven roller, the second upper part of the right clamping plate passes upward through the gap between the fourth driven roller and the fifth driven roller, and the right clamping plate is located above the first driven roller;

[0017] The fixed bottom plate of the material basket input device is fixedly connected to the bottom frame of the material basket placing device.

[0018] Preferably, the material collecting barrel lifting device comprises a support rod, a first telescopic rod, a second telescopic rod, a first slide rail assembly, a second slide rail assembly, a second steel wire rope lower end connecting seat, a second steel wire rope upper end connecting seat, a second steel wire rope, a first steel wire rope, a first pulley, a first pulley seat, a second pulley seat, a third pulley seat, a second pulley, a third pulley, a second steel wire rope connecting seat, a fourth pulley, a fifth pulley, a capstan and a capstan bracket. The first slide rail assembly is connected to the support rod, the first telescopic rod is connected to the first slider of the first slide rail assembly, the second slide rail assembly is connected to the first telescopic rod, the second telescopic rod is connected to the second slider of the second slide rail assembly, the capstan bracket is fixedly connected to the support rod, the capstan is connected to the capstan bracket, the first pulley seat is fixedly connected to the support rod, the first pulley is connected to the first pulley seat, and the second slide The wheel seat is connected to the top of the support rod, the second pulley and the third pulley are respectively connected to the second pulley seat, the second wire rope connecting seat is fixedly connected to the first telescopic rod, the first wire rope is connected to the winch, the first wire rope passes around the first pulley, the second pulley and the third pulley in sequence, and the end of the first wire rope is fixedly connected to the second wire rope connecting seat; the second wire rope lower end connecting seat is fixedly connected to the lower part of the support rod, the second wire rope upper end connecting seat is fixedly connected to the lower part of the second telescopic rod, the third pulley seat is fixedly connected to the top of the first telescopic rod, the fourth pulley and the fifth pulley are respectively connected to the third pulley seat, the lower end of the second wire rope is fixedly connected to the second wire rope lower end connecting seat, the second wire rope passes around the fourth pulley and the fifth pulley in sequence, and the upper end of the second wire rope is fixedly connected to the second wire rope upper end connecting seat;

[0019] The material receiving cylinder is fixedly connected to the second telescopic rod;

[0020] The support rod of the receiving barrel lifting device is fixedly connected to the left end of the frame.

[0021] Preferably, the winch is a hand winch or an electric winch.

[0022] Preferably, the intelligent collection robot that can be used to collect Agaricus bisporus also includes a walking mechanism, which includes a walking drive motor, an active roller, a driven roller and a passive roller, the active roller and the driven roller are respectively rotatably connected to the top of the frame, the active roller and the driven roller are connected to the output shaft of the walking drive motor through a transmission mechanism, the walking drive motor is fixedly connected to the top of the frame, and the passive roller is rotatably connected to the top of the frame.

[0023] Preferably, the walking mechanism further comprises a guide roller shaft, and the guide roller shaft is rotatably connected to the bottom of the frame.

[0024] Preferably, the material basket delivery device further comprises two left spring plungers and two right spring plungers, the two left spring plungers are connected to the left material taking plate, and the two right spring plungers are connected to the right material taking plate.

[0025] Preferably, the left clamping plate of the basket input device is connected to two left spring plungers, and the right clamping plate of the basket input device is connected to two right spring plungers.

[0026] Preferably, an inclined plate is connected to the output end of the conveyor belt.

[0027] The beneficial effect of the present invention is that the collection operation of Agaricus bisporus is automatically and continuously performed using a collection basket, which has a high degree of automation and intelligence, improves operation efficiency, and reduces labor costs. The space in the collection basket is relatively large, and a large number of Agaricus bisporus can be collected. The material collecting barrel can adapt to each layer of the multi-layer bed frame, and the material receiving ramp plate and the material collecting barrel can quickly transport and collect the Agaricus bisporus output by the automatic picking robot. The walking mechanism can make the entire robot translate and follow the automatic picking robot, and is suitable for the automatic picking robot.

[0028] Further features and aspects of the present disclosure will be clearly described in the following description of specific embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is an axonometric diagram of an intelligent collection device that can be used to collect Agaricus bisporus;

[0030] Figure 2 yes Figure 1 A front view of the smart collection device shown;

[0031] Figure 3 yes Figure 1 A rear view of the smart collection device shown;

[0032] Figure 4 yes Figure 1 A top view of the smart collection device shown;

[0033] Figure 5 yes Figure 1 A left side view of the smart collection device shown;

[0034] Figure 6 yes Figure 1 A right side view of the smart collection device shown;

[0035] Figure 7 yes Figure 1 A bottom view of the smart collection device shown;

[0036] Figure 8 yes Figure 1 An axonometric view of another perspective of the smart collection device shown;

[0037] Fig. 9 yes Figure 1 An axonometric view of another perspective of the smart collection device shown;

[0038] Fig.10 It is a position relationship diagram of the material basket delivery device, the material basket input device and the conveyor belt;

[0039] Fig.11 It is an axonometric view of the basket delivery device;

[0040] Fig.12 yes Fig.11 A front view of the basket delivery device shown;

[0041] Fig.13 yes Fig.11 A rear view of the basket delivery device shown;

[0042] Fig.14 yes Fig.11 A top view of the basket delivery device shown;

[0043] Fig.15 yes Fig.11 A left side view of the basket delivery device shown;

[0044] Fig.16 yes Fig.11 An axonometric view of the basket delivery device from another perspective;

[0045] Fig.17 It is a structural schematic diagram of a material basket input device;

[0046] Fig.18 yes Fig.17 The structural schematic diagram of the basket input device shown;

[0047] Fig.19 It is a structural schematic diagram of the receiving barrel lifting device;

[0048] Fig. 20 yes Fig.19 A front view of the structure shown;

[0049] Fig.21 It is a schematic diagram of the structure in which the intelligent collection device is installed on a multi-layer bed frame;

[0050] Fig. 22 It is a structural diagram of the frame lifting mechanism.

[0051] Explanation of symbols in the figure:

[0052] 100. Frame, 200. Traveling mechanism, 201. Traveling driving motor, 202. Active roller, 203. Driven roller, 204. Passive roller, 205. Guide roller; 300. Frame lifting mechanism, 301. Hand jack, 302. Rear caster, 303. Front caster, 304. First connecting rod, 305. Second connecting rod, 306. First V-shaped plate, 400. Material basket input device, 401. Fixed bottom plate, 402. Roller driving motor, 403. Active roller, 404. First driven roller, 405. Second driven roller, 406. Third driven roller, 407. Fourth driven roller, 408. Fifth driven roller, 409. Sixth driven roller, 410. Seventh driven roller, 411 . The first passive roller, 412. The second passive roller, 413. The first active synchronous pulley, 414. The first driven synchronous pulley, 415. The first synchronous belt, 416. The first double-groove synchronous pulley, 417. The second double-groove synchronous pulley, 418. The seventh double-groove synchronous pulley, 419. Clamping drive motor, 420. Synchronous belt transmission mechanism, 421. Bidirectional screw, 422. The first guide light axis, 423. The second guide light axis, 424. The right nut seat, 425. The right sliding block, 426. The left connecting frame, 427. The right connecting frame, 428. The left clamping plate, 429. The right clamping plate, 430. The left spring plunger, 431. The right spring plunger, 432. The left vertical plate, 433. The right vertical plate; 500 .Basket delivery device, 501.Top frame, 502.Front and rear clamping drive motor, 503.First toothed belt, 504.Driven gear connecting plate, 505.Driven gear, 506.Driven gear, 507.First connecting plate, 508.Second connecting plate, 509.Front transverse plate, 510.Rear transverse plate, 511.Left slide rail assembly, 512.Right slide rail assembly, 513.Front vertical plate, 514.Rear vertical plate, 515.Left front splint, 516.Right front splint, 517.Left rear splint, 518.Right rear splint, 519.First left and right clamping drive motor, 520.Drive synchronous pulley 1, 521.Driven synchronous pulley 1, 522.Connector 1, 5230Connector 2, 524.Upper slide rail assembly 1, 525 25. Lower slide rail assembly 1, 528. Second left and right clamping drive motor, 529. Synchronous belt 1, 530. Synchronous belt 2, 526. Upper slide rail assembly 2, 527. Lower slide rail assembly 2, 531. Lifting plate, 532. Left feeding plate, 533. Right feeding plate, 534. Lifting mechanism, 535. Upper slide rail assembly 3, 536. Lower slide rail assembly 3, 537. Feeding plate drive motor, 538. Active pulley, 539. Driven pulley, 540. Transverse belt, 541. Belt connecting plate 1, 542. Belt connecting plate 2, 543. Left spring plunger, 544. Right spring plunger; 600. Conveyor belt, 700. Material collecting barrel lifting device, 701. Support rod, 702. First telescopic rod, 703.The second telescopic rod, 704. The first slide rail assembly, 705. The second slide rail assembly, 706. The second wire rope lower end connection seat, 707. The second wire rope upper end connection seat, 708. The second wire rope, 709. The first wire rope, 710. The first pulley, 711. The first pulley seat, 712. The second pulley, 713. The third pulley, 714. The second wire rope connection seat, 715. The fourth pulley, 716. The fifth pulley, 717. The hand winch, 718. The winch bracket; 1. The receiving barrel, 1-1. The first entrance, 1-2. The second entrance, 1-3. The third entrance 1. First material receiving ramp, 2-1. Ramp 1, 2-2. Ramp 2, 3. Second material receiving ramp, 3-1. Ramp 1, 3-2. Ramp 2, 4. Third material receiving ramp, 4-1. Ramp 1, 4-2. Ramp 2, 5. First hose connector, 6. Second hose connector, 7. Third hose connector, 8. First telescopic hose, 9. Second telescopic hose, 10. Positioning plate at the lower end of the first telescopic hose, 11. Material guiding chute; 800. Multi-layer bed frame, 801. Track along the length direction; 900. Collection basket, 1000. Collection basket, 2000. Inclined plate. DETAILED DESCRIPTION

[0053] The present application is further described in detail below with reference to the accompanying drawings using specific embodiments.

[0054] The specific embodiments described below are only preferred implementations of the present application, and the protection scope of the present application is not limited thereto. For those skilled in the art, some changes or variations can be made based on or according to the principles, concepts, and spirits of the present application, and the technical solutions formed by these changes or variations should be included in the protection scope of the present application.

[0055] like Figure 1-9 As shown, the intelligent collection equipment that can be used to collect Agaricus bisporus includes a frame 100, a walking mechanism 200, a frame lifting mechanism 300, a material basket input device 400, a material basket delivery device 500, a conveyor belt 600, a material receiving and collecting device, and a material collecting barrel lifting device 700.

[0056] The travel mechanism 200 includes a travel drive motor 201, an active roller 202, a driven roller 203, a passive roller 204, and a guide roller 205. The active roller 202 and the driven roller 203 are respectively connected to the top of the frame 100 for rotation. The active roller 202 and the driven roller 203 are connected to the output shaft of the travel drive motor 201 through a transmission mechanism, such as a synchronous belt transmission mechanism. The travel drive motor 201 is fixedly mounted on the top of the frame 100, and the passive roller 204 is connected to the top of the frame 100 for rotation. The travel drive motor 201 can drive the active roller 202 and the driven roller 203 to rotate when it is working. The guide roller is connected to the bottom of the frame 100 for rotation.

[0057] like Figure 11-16As shown, the basket delivery device 500 includes a top frame 501, a front and rear clamping drive motor 502, a first toothed belt 503, a driven gear connecting plate 504, a driven gear 505, a driving gear 506, a first connecting plate 507, a second connecting plate 508, a front transverse plate 509, a rear transverse plate 510, a left slide rail assembly 511, a right slide rail assembly 512, a front vertical plate 513, a rear vertical plate 514, a left front clamping plate 515, a right front clamping plate 516, a left rear clamping plate 517, a right rear clamping plate 518, a first left and right clamping drive motor 519, a driving synchronous pulley 1 520, a driven synchronous pulley 1 521, a connecting piece 1 522, a connecting piece 2 523, an upper slide Rail assembly 1 524, lower slide rail assembly 1 525, second left and right clamping drive motor 528, synchronous belt 1 529, active synchronous pulley 2, driven synchronous pulley 2, synchronous belt 2 530, connecting piece 3, connecting piece 4, upper slide rail assembly 2 526, lower slide rail assembly 2 527, lifting plate 531, left feeding plate 532, right feeding plate 533, lifting mechanism 534, upper slide rail assembly 3 535, lower slide rail assembly 3 536, feeding plate drive motor 537, active pulley 538, driven pulley 539, transverse belt 540, belt connecting plate 1 541, belt connecting plate 2 542, left spring plunger 543, right spring plunger 544.The front and rear clamping drive motor 502 is fixedly mounted on the top frame 501, the driven gear connecting plate 504 is connected to the top frame 501, the driven gear 505 is rotatably connected to the driven gear connecting plate 504, the driving gear 506 is connected to the output shaft of the front and rear clamping drive motor 502, the first toothed belt 503 is connected between the driving gear 506 and the driven gear 505, the end of the front cross plate 509 is connected to the first toothed belt 503 through the first connecting plate 507, the rear cross plate 510 is connected to the first toothed belt 503 through the second connecting plate 508, the left slide rail assembly 511 and the right slide rail assembly 512 are respectively connected to the top frame 501, and the first slider of the left slide rail assembly 511 is connected to the front cross plate 509 The first slider of the right slide rail assembly 512 is connected to the front transverse plate 509, the second slider of the left slide rail assembly 511 is connected to the rear transverse plate 510, the second slider of the right slide rail assembly 512 is connected to the rear transverse plate 510, the front vertical plate 513 is fixedly connected to the front transverse plate 509, the rear vertical plate 514 is fixedly connected to the rear transverse plate 510, the first left and right clamping drive motor 519 is fixedly installed on the front vertical plate 513, the active synchronous pulley 1 520 is connected to the output shaft of the first left and right clamping drive motor 519, the driven synchronous pulley 1 521 is rotatably connected to the front vertical plate 513, the synchronous belt 1 529 is connected between the driven synchronous pulley 1 521 and the active synchronous pulley 1 520, and the upper slide rail assembly 1 52 4. The lower rail assembly 525 is fixedly connected to the front vertical plate 513, the first slider of the upper rail assembly 524 is connected to the left front clamping plate 515, the first slider of the lower rail assembly 525 is connected to the left front clamping plate 515, and the left front clamping plate 515 is connected to the synchronous belt 529 through the connecting piece 522; the second slider of the upper rail assembly 524 is connected to the right front clamping plate 516, the second slider of the lower rail assembly 525 is connected to the right front clamping plate 516, and the right front clamping plate 516 is connected to the synchronous belt 529 through the connecting piece 523; the second left and right clamping drive motor 528 is fixedly connected to the rear vertical plate 514, and the active synchronous pulley 2 is connected to the output shaft of the second left and right clamping drive motor 528 The driven synchronous pulley 2 is rotationally connected to the rear vertical plate 514, the synchronous belt 2 530 is connected between the active synchronous pulley 2 and the driven synchronous pulley 2, the upper slide rail assembly 2 526 and the lower slide rail assembly 2 527 are respectively fixedly connected to the rear vertical plate 514, the first slider of the upper slide rail assembly 2 526 is connected to the left rear splint 517, the first slider of the lower slide rail assembly 2 527 is connected to the left rear splint 517, the left rear splint 517 is connected to the synchronous belt 2 530 through the connecting piece 3, the second slider of the upper slide rail assembly 2 526 is connected to the right rear splint 518, the second slider of the lower slide rail assembly 2 527 is connected to the right rear splint 518, and the right rear splint 518 is connected to the synchronous belt 2 530 through the connecting piece 4.The second left and right clamping drive motor 528 can drive the left rear clamping plate 517 and the right rear clamping plate 518 to move closer to or away from each other, and the first left and right clamping drive motor 519 can drive the left front clamping plate 515 and the right front clamping plate 516 to move closer to or away from each other; the front and rear clamping drive motor 502 can drive the front vertical plate 513 and the rear vertical plate 514 to move closer to or away from each other, thereby making the left front clamping plate 515 and the left rear clamping plate 517 move closer to or away from each other, and the right front clamping plate 516 and the right rear clamping plate 518 move closer to or away from each other.

[0058] The upper slide rail assembly 3 535 and the lower slide rail assembly 3 536 are respectively fixedly connected to the lifting plate 531, the material picking plate driving motor 537 is fixedly installed on the lifting plate 531, the driving pulley 538 is connected to the output shaft of the material picking plate driving motor 537, the driven pulley 539 is rotatably connected to the lifting plate 531, the transverse belt 540 is connected between the driven pulley 539 and the driving pulley 538, the first slider of the upper slide rail assembly 3 535 is fixedly connected to the belt connecting plate 1 541, the first slider of the lower slide rail assembly 3 536 is fixedly connected to the belt connecting plate 1 541, and the belt connecting plate 1 541 is fixedly connected to the belt connecting plate 1 The upper end is connected to the upper part of the transverse belt 540 through a connecting piece, the second slider of the upper slide rail assembly 3 535 is fixedly connected to the belt connecting plate 2 542, the second slider of the lower slide rail assembly 3 536 is fixedly connected to the belt connecting plate 2 542, and the upper end of the belt connecting plate 2 542 is connected to the lower part of the transverse belt 540 through a connecting piece; the left feeding plate 532 is fixedly connected to the belt connecting plate 2 542, the right feeding plate 533 is fixedly connected to the belt connecting plate 1 541, two left spring plungers 543 are connected to the left feeding plate 532, and two right spring plungers 544 are connected to the right feeding plate 533. The feeding plate driving motor 537 can make the left feeding plate 532 and the right feeding plate 533 move closer to each other or separate from each other, and realize the clamping function when they move closer to each other.

[0059] The lifting mechanism 534 includes a lifting motor 534-1, a vertical belt 534-2, a driving wheel 534-3, a driven wheel 534-3, a left vertical guide rail assembly 534-4, and a right vertical guide rail assembly 534-5. The vertical belt 534-2 is connected between the driving wheel 534-3 and the driven wheel 534-3. Both sides of the lifting plate 531 are fixedly connected to the left vertical guide rail assembly 534-4 and the right vertical guide rail assembly 534-5, and the middle part of the lifting plate 531 is connected to the vertical belt 534-2 through a connecting component. Starting the lifting motor 534-1 can make the lifting plate 531 rise or fall. The lifting plate 531 rises or falls, driving the left feeding plate 532 and the right feeding plate 533 to rise or fall.

[0060] The left material taking plate 532 is located on the outer side of the left rear clamping plate 517 , and the right material taking plate 533 is located on the outer side of the right rear clamping plate 518 .

[0061] The lifting mechanism 534 may also specifically adopt a slide module, the slide module is provided with a slider, and the lifting plate 531 is fixedly connected to the slider.

[0062] like Figure 1 As shown, the top frame 501 is fixedly connected to the side of the frame 100, the bottom frame is fixedly connected to the side of the frame 100, and the lifting mechanism 534 is fixedly installed on the bottom frame.

[0063] like Fig.17 and 18As shown, the basket input device 400 includes a fixed bottom plate 401, a left vertical plate 432, a right vertical plate 433, a roller drive motor 402, an active roller 403, a first driven roller 404, a second driven roller 405, a third driven roller 406, a fourth driven roller 407, a fifth driven roller 408, a sixth driven roller 409, a seventh driven roller 410, a first passive roller 411, a second passive roller 412, a first active synchronous pulley 413, a first driven synchronous pulley 414, a first synchronous belt 415, a first double-groove synchronous pulley 416, a second double-groove synchronous pulley 417, a third double-groove synchronous pulley, a fourth double-groove synchronous pulley, a fifth double-groove synchronous pulley, a sixth double-groove synchronous pulley, and a seventh double-groove synchronous pulley 418, clamping drive motor 419, synchronous belt transmission mechanism 420, bidirectional screw 421, first guide light axis 422, second guide light axis 423, left nut seat, right nut seat 424, left sliding block, right sliding block 425, left connecting frame 426, right connecting frame 427, left clamping plate 428, right clamping plate 429, left spring plunger 430, right spring plunger 431, left vertical plate 432 is fixedly connected to fixed bottom plate 401, right vertical plate 433 is fixedly connected to fixed bottom plate 401, roller drive motor 402 is installed on left vertical plate 432, the left end of active roller 403 is rotatably connected to left vertical plate 432, the right end of active roller 403 is rotatably connected to right vertical plate 433, the first slave The left end of the driving roller 404 is rotationally connected to the left vertical plate 432, the right end of the first driven roller 404 is rotationally connected to the right vertical plate 433, the left ends of the second driven roller 405, the third driven roller 406, the fourth driven roller 407, the fifth driven roller 408, the sixth driven roller 409 and the seventh driven roller 410 are rotationally connected to the left vertical plate 432 respectively, the right ends of the second driven roller 405, the third driven roller 406, the fourth driven roller 407, the fifth driven roller 408, the sixth driven roller 409 and the seventh driven roller 410 are rotationally connected to the right vertical plate 433 respectively, the left ends of the first passive roller 411 and the second passive roller 412 are rotationally connected to the left vertical plate 432 respectively, the first passive roller 411 , the right ends of the second passive roller 412 are rotatably connected to the right side vertical plate 433 respectively, the first passive roller 411, the second passive roller 412, the active roller 403, the first driven roller 404, the second driven roller 405, the third driven roller 406, the fourth driven roller 407, the fifth driven roller 408, the sixth driven roller 409 and the seventh driven roller 410 are arranged side by side, the first active synchronous pulley 413 is connected to the output shaft of the roller driving motor 402, the first driven synchronous pulley 414 is connected to the left end of the active roller 403, the first synchronous belt 415 is connected between the first active synchronous pulley 413 and the first driven synchronous pulley 414, and the first double-groove synchronous pulley 416 is connected to the left end of the first driven roller 404,The second double-groove synchronous pulley 417 is connected to the left end of the second driven roller 405, the third double-groove synchronous pulley, the fourth double-groove synchronous pulley, the fifth double-groove synchronous pulley, the sixth double-groove synchronous pulley and the seventh double-groove synchronous pulley 418 are respectively connected to the left ends of the third driven roller 406, the fourth driven roller 407, the fifth driven roller 408, the sixth driven roller 409 and the seventh driven roller 410, the first double-groove synchronous pulley 416 is connected to the first driven synchronous pulley 414 through a synchronous belt, the second double-groove synchronous pulley 417 is connected to the first double-groove synchronous pulley 416 through a synchronous belt, The 3rd double groove synchronous pulley is connected to the 2nd double groove synchronous pulley 417 through a synchronous belt, the 4th double groove synchronous pulley is connected to the 3rd double groove synchronous pulley through a synchronous belt, the 5th double groove synchronous pulley is connected to the 4th double groove synchronous pulley through a synchronous belt, the 6th double groove synchronous pulley is connected to the 5th double groove synchronous pulley through a synchronous belt, and the 7th double groove synchronous pulley 418 is connected to the 6th double groove synchronous pulley through a synchronous belt; the clamping drive motor 419 is installed on the left side vertical plate 432, the left end of the bidirectional screw 421 is rotatably connected to the left side vertical plate 432, and the right end of the bidirectional screw 421 is rotatably connected to the right side vertical plate 433 is rotatably connected, the output shaft of the clamping drive motor 419 is connected to the left end of the bidirectional screw 421 through the synchronous belt transmission mechanism 420, the left ends of the first guide light axis 422 and the second guide light axis 423 are respectively fixedly connected to the left vertical plate 432, the right ends of the first guide light axis 422 and the second guide light axis 423 are respectively fixedly connected to the right vertical plate 433, the left nut seat is connected and matched with the left part of the bidirectional screw 421, the right nut seat 424 is connected and matched with the right part of the bidirectional screw 421, the left sliding block is fixedly connected to the left nut seat, and the right sliding block 425 is connected to the right nut seat 424 Fixedly connected, the left sliding block sleeve and the right sliding block 425 are respectively sleeved on the first guide light axis 422 for sliding connection, the left sliding block sleeve and the right sliding block 425 are respectively sleeved on the second guide light axis 423 for sliding connection, the left connecting frame 426 is fixedly connected to the left sliding block, the right connecting frame 427 is fixedly connected to the right sliding block 425, the left clamping plate 428 is connected to the left connecting frame 426, the right clamping plate 429 is connected to the right connecting frame 427, the two left spring plungers 430 are connected to the left clamping plate 428, and the two right spring plungers 431 are connected to the right clamping plate 429. The bidirectional screw 421 is located below the third driven roller 406; the first upper portion of the left connecting frame 426 passes upward through the gap between the active roller 403 and the first driven roller 404, the second upper portion of the left connecting frame 426 passes upward through the gap between the fourth driven roller 407 and the fifth driven roller 408, the left clamping plate 428 is located above the first driven roller 404, and correspondingly, the first upper portion of the right clamping plate 429 passes upward through the gap between the active roller 403 and the first driven roller 404.The second upper portion of the right clamping plate 429 passes upward through the gap between the fourth driven roller 407 and the fifth driven roller 408, and the right clamping plate 429 is located above the first driven roller 404. When the clamping drive motor 419 is working, it can drive the left clamping plate 428 and the right clamping plate 429 to move closer to or away from each other. When the roller drive motor 402 is started, the active roller 403 is driven to rotate, and the seven driven rollers also rotate. The active roller 403 and the seven driven rollers rotate to move the material basket forward; the material basket is transported out through the two driven rollers, and the two driven rollers rotate.

[0064] like Figure 1-10 As shown, the conveyor belt 600 is installed at the bottom of the frame 100, and the fixed bottom plate 401 is fixedly installed on the bottom frame. The material basket input device 400 is located at one side of the conveyor belt 600, and the material basket delivery device 500 is located directly above the material basket input device 400.

[0065] like Fig.19 and 20As shown, the material receiving and collecting device includes a material receiving barrel 1, a first material receiving ramp plate 2, a second material receiving ramp plate 3, a third material receiving ramp plate 4, a first hose connector 5, a second hose connector 6, a third hose connector 7, a first telescopic hose 8, a second telescopic hose 9, a first pipeline, a second pipeline, a first telescopic hose lower end positioning plate 10, and a material guiding chute 11. The material receiving barrel 1 is provided with a first inlet 1-1, a second inlet 1-2, and a third inlet 1-3. The first material receiving ramp plate 2 is connected to the receiving barrel 1, the first receiving material slope plate 2 is provided with a slope 1 2-1 and a slope 2-2, and the slope 1 2-1 is located at the first entrance 1-1, the second receiving material slope plate 3 is connected to the receiving barrel 1, the second receiving material slope plate 3 is provided with a slope 1 3-1 and a slope 2 3-2, and the slope 1 3-1 is located at the second entrance 1-2, the third receiving material slope plate 4 is connected to the receiving barrel 1, the third receiving material slope plate 4 is provided with a slope 1 4-1, a slope 2 4-2, and the slope 1 4-1 is located at the entrance of the third inlet 1-3; the first hose connector 5 is connected to the first material receiving ramp plate 2, the first hose connector 5 is connected to the slope 2-2, the second hose connector 6 is connected to the second material receiving ramp plate 3, the second hose connector 6 is connected to the slope 2-2, the third hose connector 7 is connected to the third material receiving ramp plate 4, the third hose connector 7 is connected to the slope 2-2, the upper end of the first pipeline is connected to the first hose connector 5, the lower end of the first pipeline is connected to the second hose connector 6, and the lower end of the first pipeline is connected to the second hose connector 6. The connection is provided with an opening communicating with the slope 2-2 3-2; the upper end of the second pipeline is connected to the second hose connector 6, the lower end of the second pipeline is connected to the third hose connector 7, and the lower end of the second pipeline is connected to the third hose connector 7. The connection is provided with an opening communicating with the slope 2-2 4-2; the upper end of the second telescopic hose 9 is connected to the third hose connector 7; the upper end of the first telescopic hose 8 is connected to the lower end of the material receiving barrel 1. The Agaricus bisporus on the slope 2-1 can freely enter the receiving barrel 1 from the first inlet 1-1 of the receiving barrel 1 and then fall downward and fall downward in the first telescopic hose 8. Similarly, the Agaricus bisporus on the slope 3-1 can freely enter the receiving barrel 1 from the second inlet 1-2 of the receiving barrel 1 and then fall downward and fall downward in the first telescopic hose 8. The Agaricus bisporus on the slope 4-1 can freely enter the receiving barrel 1 from the third inlet 1-3 of the receiving barrel 1 and then fall downward and fall downward in the first telescopic hose 8. The mushroom roots on the slope 2-2 can freely enter the first pipe from the first hose connector 5 and fall downward, then enter the second pipe and fall downward, and finally enter the second telescopic hose 9 and fall downward in the second telescopic hose 9; similarly, the mushroom roots on the slope 2-2 can freely enter the second pipe from the opening at the connection between the lower end of the first pipe and the second hose connector 6 and fall downward, then enter the second telescopic hose 9 and fall downward in the second telescopic hose 9. The mushroom roots on the second slope 4 - 2 can freely enter the second telescopic hose 9 from the opening at the connection between the lower end of the second pipe and the third hose connector 7 and fall downward.

[0066] like Fig.19 and 20 As shown, the material collecting barrel lifting device 700 includes a support rod 701, a first telescopic rod 702, a second telescopic rod 703, a first slide rail assembly 704, a second slide rail assembly 705, a second steel wire rope lower end connecting seat 706, a second steel wire rope upper end connecting seat 707, a second steel wire rope 708, a first steel wire rope 709, a first pulley 710, a first pulley seat 711, a second pulley seat, a third pulley seat, a second pulley 712, a third pulley 713, a second steel wire rope connecting seat 714, a fourth pulley 715, a fifth pulley 716, a hand-cranked winch 717, and a winch bracket 718. The first slide rail assembly 704 is connected to the support rod 701, the first slide rail assembly 704 is provided with a first slider, the first telescopic rod 702 is connected to the first slider, and the second slide rail assembly 705 is connected to the first telescopic rod 702 Then, the second slide rail assembly 705 is provided with a second slider, the second telescopic rod 703 is connected to the second slider, the winch bracket 718 is fixedly installed on the support rod 701, the hand winch 717 is connected to the winch bracket 718, the first pulley seat 711 is fixedly installed on the support rod 701, the first pulley 710 is connected to the first pulley seat 711, the second pulley seat is connected to the top of the support rod 701, the second pulley 712 and the third pulley 713 are respectively connected to the second pulley seat, the second wire rope connecting seat 714 is fixedly connected to the first telescopic rod 702, the first wire rope 709 is connected to the hand winch 717, the first wire rope 709 passes around the first pulley 710, the second pulley 712, and the third pulley 713 in turn, and the end of the first wire rope 709 is fixedly connected to the second wire rope connecting seat 714. The second steel wire rope lower end connection seat 706 is fixedly mounted on the lower part of the support rod 701, the second steel wire rope upper end connection seat 707 is fixedly mounted on the lower part of the second telescopic rod 703, the third pulley seat is fixedly mounted on the top of the first telescopic rod 702, the fourth pulley 715 and the fifth pulley 716 are respectively connected to the third pulley seat, the lower end of the second steel wire rope 708 is fixedly connected to the second steel wire rope lower end connection seat 706, the second steel wire rope 708 passes around the fourth pulley 715 and the fifth pulley 716 in sequence, and the upper end of the second steel wire rope 708 is fixedly connected to the second steel wire rope upper end connection seat 707. When the staff operates the hand-cranked winch 717 to reel in the line, the first telescopic rod 702 slides upward under the pulling force of the first steel wire rope 709, and while the first telescopic rod 702 moves upward, the second telescopic rod 703 moves upward synchronously under the action of the second steel wire rope 708. When the staff operates the hand-cranked winch 717 to release the line, the first telescopic rod 702 moves downward, and the second telescopic rod 703 moves downward synchronously.

[0067] The receiving barrel 1 is fixedly connected to the second telescopic rod 703. The lifting of the second telescopic rod 703 drives the receiving barrel 1 to lift, and then the first receiving ramp plate 2, the second receiving ramp plate 3 and the third receiving ramp plate 4 are lifted accordingly. It should be noted that the lifting device with other specific structural methods can also be used to realize the lifting of the receiving barrel 1.

[0068] Those skilled in the art will appreciate that the hand winch 717 may be replaced by an electric winch.

[0069] refer to Figure 1-10 When the receiving barrel lifting device 700 is assembled on the frame 100, the support rod 701 is fixedly installed on the left end of the frame 100. The first pulley seat 711 can also be installed on the frame 100 instead of the support rod 701. The first telescopic hose lower end positioning plate 10 is fixedly installed on the frame 100, and the material guide chute 11 is connected to the first telescopic hose lower end positioning plate 10. The lower end of the first telescopic hose 8 is connected to the first telescopic hose lower end positioning plate 10, and the lower end of the second telescopic hose 9 is connected to the first telescopic hose lower end positioning plate 10.

[0070] The following describes the working process of the above-mentioned intelligent collection device that can be used to collect Agaricus bisporus:

[0071] like Fig.21 As shown, the intelligent collection device is installed on the multi-layer bed frame 800. The side of the multi-layer bed frame 800 is provided with a track 801 along the length direction. The active roller 202, the driven roller 203, and the passive roller 204 of the walking mechanism 200 are all placed on the track 801 along the length direction, and the guide roller 205 is against the bottom of the side of the multi-layer bed frame 800.

[0072] refer to Figure 1 , 2 , 5, 10, operate the basket placing device 500, place the multiple stacked collection baskets 900 as a whole in the basket placing device 500, and clamp the four corners of the multiple collection baskets 900 with the left front clamping plate 515, the right front clamping plate 516, the left rear clamping plate 517, and the right rear clamping plate 518 respectively, and then hold the multiple collection baskets 900, ready for use. The left front clamping plate 515, the right front clamping plate 516, the left rear clamping plate 517, and the right rear clamping plate 518 are in a closed state.

[0073] The receiving drum lifting device 700 is operated to lift the receiving drum 1 , and then the first receiving material slope plate 2 , the second receiving material slope plate 3 , and the third receiving material slope plate 4 are adjusted to be close to the corresponding layers on the multi-layer bed frame 800 .

[0074] Operate the material basket delivery device 500, start the material taking plate drive motor 537, the left material taking plate 532 and the right material taking plate 533 clamp the bottom collection basket of the multiple collection baskets, and the two left spring plungers 543 and the two right spring plungers 544 are against the side of the collection basket. It should be noted that the use of spring plungers is the preferred technical means; then start the front and rear clamping drive motors 502, the first left and right clamping drive motors 519, and the second left and right clamping drive motors 528 to make the left front clamping plate 515, the right front clamping plate 516, and the left rear clamping plate 517 , the right rear clamping plate 518 is opened; then, the lifting mechanism 534 is actuated to move the left feeding plate 532 and the right feeding plate 533 downward, and the left feeding plate 532 and the right feeding plate 533 move downward with the clamped collecting basket, and the multiple collecting baskets stacked together move downward until they move close to the material basket input device 400, and the clamped collecting basket 1000 is placed on the active roller 403, the first driven roller 404, the second driven roller 405, the third driven roller 406 and the fourth driven roller 407 of the material basket input device 400, as shown in FIG. Fig.10 As shown; then, the clamping drive motor 419 is started to drive the left clamping plate 428 and the right clamping plate 429 to move closer to each other and thus clamp the two sides of the bottom of the collecting basket 1000; then, the material picking plate drive motor 537 is activated to make the left material picking plate 532 and the right material picking plate 533 move away from each other and open; then, the lifting mechanism 534 is activated to make the left material picking plate 532 and the right material picking plate 533 move upward a short distance; then, the material picking plate drive motor 537 is activated to make the left material picking plate 532 and the right material picking plate 533 clamp the second to last collecting basket (i.e., the collecting basket above the collecting basket 1000); then, the lifting mechanism 534 is activated to make the left material picking plate 532 and the right material picking plate 533 move upward, and the left material picking plate 532 and the right material picking plate 533 carry the other The collecting basket moves to the space between the left front clamping plate 515, the right front clamping plate 516, the left rear clamping plate 517, and the right rear clamping plate 518, at which time the collecting basket 1000 remains on the roller of the basket input device 400; then, the front and rear clamping drive motors 502, the first left and right clamping drive motors 519, and the second left and right clamping drive motors 528 work to close the left front clamping plate 515, the right front clamping plate 516, the left rear clamping plate 517, and the right rear clamping plate 518 to clamp multiple collecting baskets; then, the clamping drive motor 419 works to make the left clamping plate 428 and the right clamping plate 429 move away from each other and be in an open state; then, the roller drive motor 402 is started, and the roller on the basket input device 400 translates the collecting basket 1000 onto the conveyor belt 600.

[0075] When the conveyor belt 600 is started, the collecting basket 1000 on the conveyor belt 600 moves to the lower side of the positioning plate 10 at the lower end of the first telescopic hose. Figure 3 and 19 shown.

[0076] The automatic picking robot working on a certain layer of the multi-layer bed frame 800 outputs the Agaricus bisporus and falls on the slope 1 2-1, and the mushroom roots fall on the slope 2 2-2; or the Agaricus bisporus output by the automatic picking robot falls on the slope 1 3-1, and the mushroom roots fall on the slope 2 3-2, or the Agaricus bisporus output by the automatic picking robot falls on the slope 1 4-1, and the mushroom roots fall on the slope 2 4-2. Finally, the Agaricus bisporus is output from the lower port of the first telescopic hose 8 and falls into the collection basket 1000, and the mushroom roots are output from the lower port of the second telescopic hose 9 and fall into the material guide chute 11 and then discharged to the ground.

[0077] The collecting basket 1000 filled with Agaricus bisporus is directly transferred out, or transferred out from the inclined plate 2000, such as Figure 1 and 2 As shown, the inclined plate 2000 is connected to the output end of the conveyor belt 600.

[0078] By repeating the above steps, the collection basket can be used automatically and continuously to collect the Agaricus bisporus, which has a high degree of automation and intelligence, improves the working efficiency, and reduces the labor cost. Since the space in the collection basket is relatively large, a collection basket can collect a large number of Agaricus bisporus at a time. The material receiving barrel lifting device 700 can make the material receiving barrel 1 adapt to each layer of the multi-layer bed frame 800, and the material receiving ramp plate and the material receiving barrel 1 can quickly transport and collect the Agaricus bisporus output by the automatic picking robot. Starting the walking mechanism 200 can make the entire robot translate, realize following the automatic picking robot, and align the material receiving ramp plate with the mushroom output port of the automatic picking robot.

[0079] In order to facilitate placing the active roller 202, the driven roller 203, and the passive roller 204 of the entire robot on the track 801 along the length direction, a frame lifting mechanism 300 may be provided, such as Figure 3 , 6, 7, 9, and 22, the frame lifting mechanism 300 includes a hand jack 301, a rear caster 302, a front caster 303, a first connecting rod 304, a second connecting rod 305, a first V-shaped plate 306, and a second V-shaped plate. The upper end of the hand jack 301 is fixedly connected to the frame 100, the lower end of the hand jack 301 is fixedly connected to the rear caster 302, one end of the first V-shaped plate 306 is hinged to the rear caster 302, and the first V-shaped plate 30 The other end of 6 is hinged to one end of the first connecting rod 304, the other end of the first connecting rod 304 is hinged to the frame 100, and the front caster 303 is fixedly connected to the other end of the first connecting rod 304. Similarly, one end of the second V-shaped plate is hinged to the rear caster 302, the other end of the second V-shaped plate is hinged to one end of the second connecting rod 305, the other end of the second connecting rod 305 is hinged to the frame 100, and the front caster 303 is fixedly connected to the other end of the second connecting rod 305. When the frame lifting mechanism 300 is used, the rear caster 302 and the front caster 303 are in contact with the ground, and the hand jack 301 is operated to lift the entire frame 100 upward, and the first V-shaped plate 306 rotates to drive one end of the first connecting rod 304 to move upward, and the first connecting rod 304 drives the front caster 303 to rotate a certain angle, thereby lifting the frame 100 upward; then, the operator pushes the raised frame 100 by hand to move the frame 100 to the multi-layer bed frame 800, so that the active roller 202, the driven roller 203, and the passive roller 204 are located above the track 801 along the length direction, and then operates the hand jack 301, the hand jack 301 retracts, and the frame 100 descends, and the active roller 202, the driven roller 203, and the passive roller 204 are in contact with the track 801 along the length direction, and the rear caster 302 and the front caster 303 leave the ground.

[0080] It should be noted that the intelligent collection device disclosed in the present invention is not limited to the scene of picking Agaricus bisporus, but can also be used to collect other mushrooms such as shiitake mushrooms. It can also be used to collect other fruit and vegetable varieties. It can also be used to collect materials (such as industrial parts).

Claims

1. An intelligent collection robot capable of collecting Agaricus bisporus, characterized in that: It includes a frame, a material basket input device, a material basket placing device, a conveyor belt, a material receiving and collecting device, and a material collecting barrel lifting device; The basket delivery device comprises a top frame, a bottom frame, a front and rear clamping drive motor, a first toothed belt, a driven gear connecting plate, a driven gear, a driving gear, a first connecting plate, a second connecting plate, a front transverse plate, a rear transverse plate, a left slide rail assembly, a right slide rail assembly, a front vertical plate, a rear vertical plate, a left front splint, a right front splint, a left rear splint, a first left and right clamping drive motor, a driving synchronous pulley 1, a driven synchronous pulley 1, a connecting piece 1, a connecting piece 2, an upper slide rail assembly 1, a lower slide rail assembly 1, a second left and right clamping drive motor, a synchronous belt 1, a driving synchronous pulley 2, a driven synchronous pulley 2, a synchronous belt 2, a connecting piece 3, a connecting piece 4, a connecting piece 5, a connecting piece 6, a connecting piece 7, a connecting piece 8, a connecting piece 9, a connecting piece 10, a connecting piece 11, a connecting piece 12, a connecting piece 13, a connecting piece 14, a connecting piece 15, a connecting piece 16, a connecting piece 17, a connecting piece 18, a connecting piece 19, a connecting piece 19, a connecting piece 11 Connector 3, connector 4, upper slide rail assembly 2, lower slide rail assembly 2, lifting plate, left material picking plate, right material picking plate, lifting mechanism, upper slide rail assembly 3, lower slide rail assembly 3, material picking plate drive motor, active pulley, driven pulley, transverse belt, belt connecting plate 1 and belt connecting plate 2, the front and rear clamping drive motors are fixedly connected to the top frame, the driven gear connecting plate is connected to the top frame, the driven gear is rotatably connected to the driven gear connecting plate, the driving gear is connected to the output shaft of the front and rear clamping drive motors, the first toothed belt is connected between the active gear and the driven gear, the front transverse plate is connected through the first The connecting plate is connected to the first toothed belt, the rear transverse plate is connected to the first toothed belt through the second connecting plate, the left slide rail assembly and the right slide rail assembly are respectively connected to the top frame, the first slider of the left slide rail assembly is connected to the front transverse plate, the first slider of the right slide rail assembly is connected to the front transverse plate, the second slider of the left slide rail assembly is connected to the rear transverse plate, the second slider of the right slide rail assembly is connected to the rear transverse plate, the front vertical plate is fixedly connected to the front transverse plate, the rear vertical plate is fixedly connected to the rear transverse plate, the first left and right clamping drive motors are fixedly connected to the front vertical plate, the active synchronous pulley one is connected to the first left and right clamping drive motors The output shaft is connected, the driven synchronous pulley 1 is rotatably connected with the front vertical plate, the synchronous belt 1 is connected between the driven synchronous pulley 1 and the active synchronous pulley 1, the upper slide rail assembly 1 and the lower slide rail assembly 1 are respectively fixedly connected to the front vertical plate, the first slider of the upper slide rail assembly 1 is connected to the left front clamping plate, the first slider of the lower slide rail assembly 1 is connected to the left front clamping plate, the left front clamping plate is connected to the synchronous belt 1 through a connecting piece 1; the second slider of the upper slide rail assembly 1 is connected to the right front clamping plate, the second slider of the lower slide rail assembly 1 is connected to the right front clamping plate, and the right front clamping plate is connected to the synchronous belt 1 through a connecting piece 2;The second left and right clamping drive motor is fixedly connected to the rear vertical plate, the active synchronous belt pulley 2 is connected with the output shaft of the second left and right clamping drive motor, the driven synchronous belt pulley 2 is rotatably connected with the rear vertical plate, and the synchronous belt 2 is connected between the active synchronous belt pulley 2 and the driven synchronous belt pulley 2. The upper slide rail assembly 2 and the lower slide rail assembly 2 are respectively fixedly connected to the rear vertical plate, the first slider of the upper slide rail assembly 2 is connected with the left rear splint, the first slider of the lower slide rail assembly 2 is connected with the left rear splint, the left rear splint is connected with the synchronous belt 2 through a connecting piece 3, the second slider of the upper slide rail assembly 2 is connected with the right rear splint, and the right rear splint is connected with the synchronous belt 2 through a connecting piece 4; the upper slide rail assembly 3 and the lower slide rail assembly 3 are respectively fixedly connected to the lifting plate, the feeding plate driving motor is fixedly connected to the lifting plate, the active belt pulley is connected with the output shaft of the feeding plate driving motor, and the driven The pulley is rotatably connected with the lifting plate, and the transverse belt is connected between the driven pulley and the driving pulley, the first slider of the upper slide rail assembly three is fixedly connected to the belt connecting plate one, the first slider of the lower slide rail assembly three is fixedly connected to the belt connecting plate one, the upper end of the belt connecting plate one is connected to the upper part of the transverse belt through a connecting piece, the second slider of the upper slide rail assembly three is fixedly connected to the belt connecting plate two, the second slider of the lower slide rail assembly three is fixedly connected to the belt connecting plate two, and the upper end of the belt connecting plate two is connected to the lower part of the transverse belt through a connecting piece; the left feeding plate is connected to the belt connecting plate two, and the right feeding plate is connected to the belt connecting plate one; the lifting mechanism is connected to the lifting plate; the left feeding plate is located on the outside of the left rear splint, and the right feeding plate is located on the outside of the right rear splint; the top frame is fixedly connected to the side of the frame, the bottom frame is fixedly connected to the side of the frame, and the lifting mechanism is fixedly connected to the bottom frame; The material basket input device is connected to the bottom frame of the material basket delivery device, and the material basket input device is located below the left and right material taking plates of the material basket delivery device; The conveyor belt is connected to the bottom of the frame, and the material basket input device is located on one side of the conveyor belt; The material receiving and collecting device comprises a material receiving barrel, a first material receiving ramp plate, a second material receiving ramp plate, a third material receiving ramp plate, a first telescopic hose and a positioning plate at the lower end of the first telescopic hose, the material receiving barrel is provided with a first inlet, a second inlet and a third inlet, the first material receiving ramp plate is connected to the material receiving barrel, the first material receiving ramp plate is provided with a slope 1, and the slope 1 is located at the first inlet, the second material receiving ramp plate is connected to the material receiving barrel, the second material receiving ramp plate is provided with a slope 1, and the slope 1 of the second material receiving ramp plate is located at the second inlet, the third material receiving ramp plate is connected to the material receiving barrel, the third material receiving ramp plate is provided with a slope 1, and the slope 1 of the third material receiving ramp plate is located at the third inlet; the upper end of the first telescopic hose is connected to the lower end of the material receiving barrel; The lower end positioning plate of the first telescopic hose of the material receiving and collecting device is fixedly connected to the frame, and the lower end of the first telescopic hose is connected to the lower end positioning plate of the first telescopic hose. The material receiving barrel lifting device is connected to the left end portion of the frame, and the material receiving barrel of the material receiving and collecting device is connected to the material receiving barrel lifting device.

2. The intelligent collection robot capable of collecting Agaricus bisporus according to claim 1, characterized in that: The material receiving and collecting device also includes a second telescopic hose, a first hose joint, a second hose joint, a third hose joint, a first pipeline, a second pipeline and a material guiding chute, the first material receiving ramp plate is provided with a second ramp, the second material receiving ramp plate is provided with a second ramp, the third material receiving ramp plate is provided with a second ramp, the first hose joint is connected to the first material receiving ramp plate, the first hose joint is communicated with the second ramp of the first material receiving ramp plate, the second hose joint is connected to the second material receiving ramp plate, the second hose joint is communicated with the second ramp of the second material receiving ramp plate, the third hose joint is connected to the third material receiving ramp plate, the third hose joint is communicated with the second ramp of the third material receiving ramp plate, the first pipeline The upper end of the first pipe is connected to the first hose connector, the lower end of the first pipe is connected to the second hose connector, and the connection between the lower end of the first pipe and the second hose connector is provided with an opening connected to the slope 2 of the second material receiving slope plate; the upper end of the second pipe is connected to the second hose connector, the lower end of the second pipe is connected to the third hose connector, and the connection between the lower end of the second pipe and the third hose connector is provided with an opening connected to the slope 2 of the third material receiving slope plate; the upper end of the second telescopic hose is connected to the third hose connector, and the lower end of the second telescopic hose is connected to the lower end positioning plate of the first telescopic hose; the material guiding chute is connected to the lower end positioning plate of the first telescopic hose, and the material guiding chute is connected to the lower end of the second telescopic hose.

3. The intelligent collection robot capable of collecting Agaricus bisporus according to claim 1 or 2, characterized in that: The material basket input device includes a fixed bottom plate, a left vertical plate, a right vertical plate, a roller drive motor, an active roller, a first driven roller, a second driven roller, a third driven roller, a fourth driven roller, a fifth driven roller, a sixth driven roller, a seventh driven roller, a first passive roller, a second passive roller, a first active synchronous pulley, a first driven synchronous pulley, a first synchronous belt, a first double-groove synchronous pulley, a second double-groove synchronous pulley, a third double-groove synchronous pulley, a fourth double-groove synchronous pulley, a fifth double-groove synchronous pulley, a sixth double-groove synchronous pulley, a seventh double-groove synchronous pulley, a clamping drive motor, a synchronous belt transmission mechanism, a bidirectional screw, a first guide light axis, a second guide light axis, a left nut seat, a right nut seat, a left sliding block, a right sliding block, a left connecting rod, a A connecting frame, a right connecting frame, a left clamping plate and a right clamping plate, the left vertical plate is fixedly connected to the fixed bottom plate, the right vertical plate is fixedly connected to the fixed bottom plate, the roller driving motor is connected to the left vertical plate, the left end of the active roller is rotatably connected to the left vertical plate, the right end of the active roller is rotatably connected to the right vertical plate, the left end of the first driven roller is rotatably connected to the left vertical plate, the right end of the first driven roller is rotatably connected to the right vertical plate, the left ends of the second driven roller, the third driven roller, the fourth driven roller, the fifth driven roller, the sixth driven roller and the seventh driven roller are respectively rotatably connected to the left vertical plate, and the right ends of the second driven roller, the third driven roller, the fourth driven roller, the fifth driven roller, the sixth driven roller and the seventh driven roller are respectively The vertical plate is rotatably connected, the left ends of the first passive roller and the second passive roller are respectively rotatably connected to the left vertical plate, the right ends of the first passive roller and the second passive roller are respectively rotatably connected to the right vertical plate, the first passive roller, the second passive roller, the active roller, the first driven roller, the second driven roller, the third driven roller, the fourth driven roller, the fifth driven roller, the sixth driven roller and the seventh driven roller are arranged side by side, the first active synchronous pulley is connected to the output shaft of the roller driving motor, the first driven synchronous pulley is connected to the left end of the active roller, the first synchronous belt is connected between the first active synchronous pulley and the first driven synchronous pulley, the first double-groove synchronous pulley is connected to the left end of the first driven roller, the second double-groove synchronous pulley is connected to the left end of the first driven roller, The wheel is connected to the left end of the second driven roller, the 3rd double-groove synchronous pulley, the 4th double-groove synchronous pulley, the 5th double-groove synchronous pulley, the 6th double-groove synchronous pulley and the 7th double-groove synchronous pulley are respectively connected to the left ends of the third driven roller, the fourth driven roller, the fifth driven roller, the sixth driven roller and the seventh driven roller, the 1st double-groove synchronous pulley is connected to the 1st driven synchronous pulley through a synchronous belt, the 2nd double-groove synchronous pulley is connected to the 1st double-groove synchronous pulley through a synchronous belt, the 3rd double-groove synchronous pulley is connected to the 2nd double-groove synchronous pulley through a synchronous belt, the 4th double-groove synchronous pulley is connected to the 3rd double-groove synchronous pulley through a synchronous belt, the 5th double-groove synchronous pulley is connected to the 4th double-groove synchronous pulley through a synchronous belt,The 6th double-groove synchronous pulley is connected to the 5th double-groove synchronous pulley by a synchronous belt, and the 7th double-groove synchronous pulley is connected to the 6th double-groove synchronous pulley by a synchronous belt; the clamping drive motor is connected to the left vertical plate, the left end of the bidirectional screw is rotatably connected to the left vertical plate, and the right end of the bidirectional screw is rotatably connected to the right vertical plate, the output shaft of the clamping drive motor is connected to the left end of the bidirectional screw through a synchronous belt transmission mechanism, the left ends of the first guide light axis and the second guide light axis are respectively fixedly connected to the left vertical plate, and the right ends of the first guide light axis and the second guide light axis are respectively fixedly connected to the right vertical plate, the left nut seat is connected and cooperated with the left part of the bidirectional screw, and the right nut seat is connected and cooperated with the right part of the bidirectional screw, the left sliding block is fixedly connected to the left nut seat, and the right sliding block is fixedly connected to the right nut seat, and the left sliding block sleeve and the right sliding block are respectively sleeved The left sliding block sleeve and the right sliding block sleeve are respectively sleeved on the second guiding optical axis for sliding connection, the left connecting frame is fixedly connected to the left sliding block, the right connecting frame is fixedly connected to the right sliding block, the left clamping plate is connected to the left connecting frame, and the right clamping plate is connected to the right connecting frame; the bidirectional screw is located below the third driven roller; the first upper part of the left connecting frame passes upward through the gap between the active roller and the first driven roller, the second upper part of the left connecting frame passes upward through the gap between the fourth driven roller and the fifth driven roller, the left clamping plate is located above the first driven roller, the first upper part of the right clamping plate passes upward through the gap between the active roller and the first driven roller, the second upper part of the right clamping plate passes upward through the gap between the fourth driven roller and the fifth driven roller, and the right clamping plate is located above the first driven roller; The fixed bottom plate of the material basket input device is fixedly connected to the bottom frame of the material basket placing device.

4. The intelligent collection robot capable of collecting Agaricus bisporus according to claim 1 or 2, characterized in that: The material receiving barrel lifting device includes a support rod, a first telescopic rod, a second telescopic rod, a first slide rail assembly, a second slide rail assembly, a second steel wire rope lower end connecting seat, a second steel wire rope upper end connecting seat, a second steel wire rope, a first steel wire rope, a first pulley, a first pulley seat, a second pulley seat, a third pulley seat, a second pulley, a third pulley, a second steel wire rope connecting seat, a fourth pulley, a fifth pulley, a capstan and a capstan bracket, the first slide rail assembly is connected to the support rod, the first telescopic rod is connected to the first slider of the first slide rail assembly, the second slide rail assembly is connected to the first telescopic rod, the second telescopic rod is connected to the second slider of the second slide rail assembly, the capstan bracket is fixedly connected to the support rod, the capstan is connected to the capstan bracket, the first pulley seat is fixedly connected to the support rod, the first pulley is connected to the first pulley seat, and the second pulley seat is The top of the support rod is connected, the second pulley and the third pulley are respectively connected to the second pulley seat, the second steel wire rope connecting seat is fixedly connected to the first telescopic rod, the first steel wire rope is connected to the winch, the first steel wire rope passes around the first pulley, the second pulley and the third pulley in sequence, and the end of the first steel wire rope is fixedly connected to the second steel wire rope connecting seat; the second steel wire rope lower end connecting seat is fixedly connected to the lower part of the support rod, the second steel wire rope upper end connecting seat is fixedly connected to the lower part of the second telescopic rod, the third pulley seat is fixedly connected to the top of the first telescopic rod, the fourth pulley and the fifth pulley are respectively connected to the third pulley seat, the lower end of the second steel wire rope is fixedly connected to the second steel wire rope lower end connecting seat, the second wire rope passes around the fourth pulley and the fifth pulley in sequence, and the upper end of the second steel wire rope is fixedly connected to the second wire rope upper end connecting seat; The material receiving cylinder is fixedly connected to the second telescopic rod; The support rod of the receiving barrel lifting device is fixedly connected to the left end of the frame.

5. The intelligent collection robot capable of collecting Agaricus bisporus according to claim 4, characterized in that: The winch is a hand winch or an electric winch.

6. The intelligent collection robot capable of collecting Agaricus bisporus according to claim 1, characterized in that: The intelligent collection robot capable of collecting Agaricus bisporus further comprises a walking mechanism, which comprises a walking drive motor, an active roller, a driven roller and a passive roller, wherein the active roller and the driven roller are respectively rotatably connected to the top of a frame, the active roller and the driven roller are connected to the output shaft of the walking drive motor through a transmission mechanism, the walking drive motor is fixedly connected to the top of the frame, and the passive roller is rotatably connected to the top of the frame.

7. The intelligent collection robot capable of collecting Agaricus bisporus according to claim 6, characterized in that: The walking mechanism also includes a guide roller shaft, and the guide roller shaft is rotatably connected to the bottom of the frame.

8. The intelligent collection robot capable of collecting Agaricus bisporus according to claim 1, characterized in that: The material basket delivery device also includes two left spring plungers and two right spring plungers, the two left spring plungers are connected to the left material taking plate, and the two right spring plungers are connected to the right material taking plate.

9. The intelligent collection robot capable of collecting Agaricus bisporus according to claim 3, characterized in that: The left clamping plate of the material basket input device is connected to two left spring plungers, and the right clamping plate of the material basket input device is connected to two right spring plungers.

10. The intelligent collection robot capable of collecting Agaricus bisporus according to claim 1, characterized in that: The output end of the conveyor belt is connected with an inclined plate.

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