End executive device for picking mushrooms

Abstract

The invention relates to an end executive device for picking mushrooms. The end executive device solves the technical problem of how to more effectively and reliably pick agaricus bisporus growing obliquely. The device comprises an upper supporting plate, a lower supporting plate, a fixing column, a rotation driving mechanism, a flexible pipe, a lower rigid air pipe, a spherical joint bearing, a suction cup, an upper hollow shaft, a first bearing and a spring, the upper hollow shaft is rotationally connected with the upper supporting plate through the first bearing, and the upper end of the flexible pipe is connected with the lower end of the upper hollow shaft; the lower end of the flexible pipe is connected with the upper end of the lower rigid air pipe, the upper end of the spring is connected with the lower end of the upper hollow shaft, the lower end of the spring is connected with the upper end of the lower rigid air pipe, the flexible pipe is sleeved with the spring, the spherical joint bearing is connected with the lower supporting plate, and the lower rigid air pipe is connected with an inner ring of the spherical joint bearing. The lower rigid air pipe penetrates through the spherical joint bearing, and the sucker is connected with the lower end of the lower rigid air pipe. The mushroom picking machine is widely used for picking mushrooms such as agaricus bisporus.

Description

Technical Field

[0001] The present invention relates to the technical field, and in particular to an end-effector for picking mushrooms. 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, labor costs have become increasingly high. Agaricus bisporus has the biological characteristics of uneven size and 24-hour growth, which places high demands on 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, please refer to the invention patent application with application publication number CN 113940239 A and name “Intelligent Picking System”, and the invention patent application with application publication number “CN113079954A” and name “Picking Device with Adaptive Suction Cup and Adaptive Suction Cup”.

[0006] 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 each other 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 vary, and there is a phenomenon of mutual overlap between adjacent mushrooms. It can be seen that the growth direction of Agaricus bisporus can be vertically upward or tilted. It is very difficult to pick the tilted Agaricus bisporus.

[0007] The invention patent application with application publication number CN114847091A and titled "A control system and control method for picking mushrooms of Agaricus bisporus" discloses a method for picking mushrooms that grow obliquely, which uses a visual module to obtain the inclination angle of the mushrooms, and then adjusts the posture of the picking module with a suction cup before picking, so that the inclination angle of the picking module with a suction cup is consistent with the inclination angle of the mushrooms. This method has a complicated operation process, low reliability, low picking efficiency, and is not ideal in practical application.

[0008] Therefore, how to more effectively and reliably pick the obliquely growing Agaricus bisporus is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0009] The present application aims to solve the technical problem of how to more effectively and reliably pick the Agaricus bisporus that grows obliquely, and provides an end-effector for picking mushrooms that makes it easier to pick the Agaricus bisporus that grows obliquely.

[0010] In a first aspect of the present disclosure, there is provided an end effector for picking mushrooms, comprising an upper support plate, a lower support plate, a fixing column, a rotation drive mechanism, a flexible tube, a lower rigid air tube, a spherical joint bearing, a suction cup, an upper hollow shaft, a first bearing and a spring, wherein the upper support plate is connected to the lower support plate by the fixing column;

[0011] The upper hollow shaft is rotatably connected to the upper support plate through the first bearing, and the rotation drive mechanism is connected to the upper support plate, and the rotation drive mechanism is used to drive the upper hollow shaft to rotate; the upper end of the flexible tube is connected to the lower end of the upper hollow shaft, and the lower end of the flexible tube is connected to the upper end of the lower rigid air pipe; the upper end of the spring is connected to the lower end of the upper hollow shaft, and the lower end of the spring is connected to the upper end of the lower rigid air pipe, and the spring is sleeved on the flexible tube; the spherical joint bearing is connected to the lower support plate, the spherical joint bearing is provided with an inner ring, the lower rigid air pipe is connected to the inner ring of the spherical joint bearing, and the lower rigid air pipe passes through the spherical joint bearing; the suction cup is connected to the lower end of the lower rigid air pipe.

[0012] Preferably, the suction cup is an adaptive suction cup.

[0013] Preferably, the rotation drive mechanism includes a steering gear, a driving gear and a driven gear, the steering gear is connected to the upper support plate, the driving gear is connected to the output shaft of the steering gear, the driven gear is fixedly connected to the middle of the upper hollow shaft, and the driven gear is meshed with the driving gear.

[0014] Preferably, the flexible tube is a corrugated tube.

[0015] Preferably, the end effector for picking mushrooms also includes a joint and a second bearing, the upper end of the upper hollow shaft is rotatably connected to the joint via the second bearing, and a sealing ring is provided between the upper end of the upper hollow shaft and the inner wall of the joint.

[0016] Further preferably, the joint is L-shaped.

[0017] Preferably, the end effector for picking mushrooms further comprises a vertical fixing plate, the upper portion of the vertical fixing plate is fixedly connected to the upper support plate, and the lower portion of the vertical fixing plate is fixedly connected to the lower support plate.

[0018] In a second aspect of the present disclosure, there is also provided an end effector for picking mushrooms, comprising an upper support plate, a lower support plate, a fixing column, a rotation drive mechanism, a flexible tube, a lower rigid air tube, a spherical joint bearing, a suction cup, an upper hollow shaft and a first bearing, wherein the upper support plate is connected to the lower support plate by a fixing column;

[0019] The upper hollow shaft is rotatably connected to the upper support plate through a first bearing, and the rotation drive mechanism is connected to the upper support plate, and the rotation drive mechanism is used to drive the upper hollow shaft to rotate;

[0020] The upper end of the flexible tube is connected to the lower end of the upper hollow shaft, and the lower end of the flexible tube is connected to the upper end of the lower rigid air pipe; the spherical joint bearing is connected to the lower support plate, the spherical joint bearing is provided with an inner ring, the lower rigid air pipe is connected to the inner ring of the spherical joint bearing, and the lower rigid air pipe passes through the spherical joint bearing;

[0021] The suction cup is connected to the lower end of the lower rigid air tube.

[0022] Preferably, the suction cup is an adaptive suction cup.

[0023] Preferably, the end effector for picking mushrooms also includes a joint and a second bearing, the upper end of the upper hollow shaft is rotatably connected to the joint via the second bearing, and a sealing ring is provided between the upper end of the upper hollow shaft and the inner wall of the joint.

[0024] The beneficial effect of the present invention is that the obliquely growing Agaricus bisporus can be quickly, effectively and reliably picked, and the picking operation process is simple.

[0025] Not limited to picking Agaricus bisporus, you can also pick other mushrooms, and you can also pick other products that need to be picked.

[0026] 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

[0027] Figure 1 It is an axonometric view of the end of the picking execution;

[0028] Figure 2 yes Figure 1 A front view of the picking execution end shown;

[0029] Figure 3 yes Figure 1 A right side view of the picking execution end is shown;

[0030] Figure 4 yes Figure 1 A left side view of the picking execution end is shown;

[0031] Figure 5 yes Figure 1 a rear view of the picking execution end shown;

[0032] Figure 6 yes Figure 1 A top view of the picking execution end is shown;

[0033] Figure 7 yes Figure 1 A bottom view of the picking execution end is shown;

[0034] Figure 8 yes Figure 1 An axonometric view showing another perspective of the end of the picking operation;

[0035] Fig. 9 yes Figure 1 An axonometric view showing another perspective of the end of the picking operation;

[0036] Fig.10 yes Figure 1 An axonometric view showing another perspective of the end of the picking operation;

[0037] Fig.11 yes Figure 4 Sectional view in the AA direction;

[0038] Fig.12 It is a schematic diagram of the state of the picking execution end adsorbing the inclined Agaricus bisporus;

[0039] Fig.13 It is an axonometric view of the picking execution end with the spring set;

[0040] Fig.14 yes Fig.13 Front view of the structure shown.

[0041] Explanation of symbols in the figure:

[0042] 1. Upper support plate, 2. Lower support plate, 3. Vertical fixing plate, 4. Fixing column, 5. Fixing column, 6. Servo, 7. Driving gear, 8. Driven gear, 9. Joint, 10. Flexible tube, 11. Lower rigid air tube, 12. Spherical joint bearing, 13. Adaptive suction cup, 14. Upper hollow shaft, 15. First bearing, 16. Second bearing, 17. Sealing ring, 18. Spring, 19. Tilted Agaricus bisporus, 19-1. Cap. DETAILED DESCRIPTION

[0043] The application is further described in detail below with reference to the accompanying drawings.

[0044] 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.

[0045] like Figure 1-11 As shown, the picking execution terminal includes an upper support plate 1, a lower support plate 2, a vertical fixed plate 3, a fixed column 4, a fixed column 5, a steering gear 6, a driving gear 7, a driven gear 8, a joint 9, a flexible tube 10, a lower rigid air pipe 11, a spherical joint bearing 12, an adaptive suction cup 13, an upper hollow shaft 14, a first bearing 15, a second bearing 16, and a sealing ring 17. The upper end of the fixed column 4 is fixedly connected to the upper support plate 1, the lower end of the fixed column 4 is fixedly connected to the lower support plate 2, the upper end of the fixed column 5 is fixedly connected to the upper support plate 1, and the lower end of the fixed column 5 is fixedly connected to the lower support plate 2. Three fixed columns are used to connect the upper support plate 1 and the lower support plate 2. The steering gear 6 is fixedly installed on the upper support plate 1, and the driving gear 7 is connected to the output shaft of the steering gear 6.

[0046] The upper hollow shaft 14 is rotatably connected to the upper support plate 1 through the first bearing 15, the driven gear 8 is fixedly connected to the middle of the upper hollow shaft 14, the driven gear 8 is meshed with the driving gear 7, and the rotation of the driving gear 7 can drive the upper hollow shaft 14 to rotate. The upper end of the flexible tube 10 is connected to the lower end of the upper hollow shaft 14, and the lower end of the flexible tube 10 is connected to the upper end of the lower rigid air pipe 11. The spherical joint bearing 12 is installed on the lower support plate 2, the spherical joint bearing 12 is provided with an inner ring, the lower rigid air pipe 11 is connected to the inner ring of the spherical joint bearing 12, and the lower rigid air pipe 11 passes through the spherical joint bearing 12. Under the support of the spherical joint bearing 12, the lower rigid air pipe 11 can rotate and swing in all directions.

[0047] The adaptive suction cup 13 is connected to the lower end of the lower rigid air pipe 11. The structure of the adaptive suction cup 13 can be the adaptive suction cup structure disclosed in the application publication number CN113940239A and the name "Intelligent Picking System".

[0048] The upper end of the upper hollow shaft 14 is rotatably connected to the joint 9 via a second bearing 16, and a sealing ring 17 is connected between the upper end of the upper hollow shaft 14 and the inner wall of the joint 9. The specific shape of the joint 9 can be an L-type.

[0049] The upper portion of the vertical fixing plate 3 is fixedly connected to the upper supporting plate 1 , and the lower portion of the vertical fixing plate 3 is fixedly connected to the lower supporting plate 2 .

[0050] It should be noted that the flexible tube 10 may specifically be a corrugated tube.

[0051] The process of performing terminal picking of Agaricus bisporus using the above picking is as follows:

[0052] The vertical fixing plate 3 is fixed on the positioning mechanism of the automatic Agaricus bisporus picking robot, and the joint 9 is connected to the vacuum generator system.

[0053] (I) In the first case, Agaricus bisporus growing vertically is picked.

[0054] like Figure 1 , 2In the initial state shown, the entire picking execution terminal moves downward in the vertical direction, and the adaptive suction cup 13 presses down the cap of the Agaricus bisporus growing in the vertical direction. At this time, the lower rigid air tube 11 is located in the vertical direction, and the flexible tube 10 is also located in the vertical direction (no bending occurs), and then the vacuum generator is turned on to allow the adaptive suction cup 13 to absorb the cap of the Agaricus bisporus (the adaptive suction cup 13 is located in the vertical direction to absorb the cap); then, the steering engine 6 is started, and the upper hollow shaft 14 is rotated through gear transmission, and then the flexible tube 10 and the lower rigid air tube 11 are rotated by a certain angle, thereby driving the adaptive suction cup 13 to rotate by a certain angle to perform a twisting operation, and finally the entire picking execution terminal is raised, and the adaptive suction cup 13 rises with the picked Agaricus bisporus.

[0055] (ii) The second situation is picking Agaricus bisporus that grows at an angle.

[0056] like Figure 1 , 2 In the initial state shown, the entire picking execution end moves downward in the vertical direction, and the adaptive suction cup 13 presses down the cap of the inclined growing Agaricus bisporus in the vertical direction ( Fig.12 The display shows a tilted Agaricus bisporus 19). At this time, since the Agaricus bisporus is tilted, the lower rigid air tube 11 will deflect to a certain angle, the flexible tube 10 will bend accordingly, and the adaptive suction cup 13 will tilt, such as Fig.12 As shown, the vacuum generator is then turned on to allow the adaptive suction cup 13 to absorb the cap 19-1 of the tilted Agaricus bisporus; then, the steering engine 6 is started, and the upper hollow shaft 14 is rotated through gear transmission, and then the flexible tube 10 and the lower rigid air tube 11 are rotated at a certain angle, thereby driving the adaptive suction cup 13 to rotate at a certain angle for a twist operation, and finally the entire picking execution end is raised, and the adaptive suction cup 13 rises with the picked Agaricus bisporus, and the lower rigid air tube 11 is restored to the vertical direction, and the flexible tube 10 is restored to the vertical direction. After the picked Agaricus bisporus rises to the specified position, the adaptive suction cup 13 is depressurized, and the adaptive suction cup 13 releases the Agaricus bisporus, and the Agaricus bisporus falls automatically.

[0057] It can be seen that the picking operation process is simple and can realize fast, effective and reliable picking of the obliquely growing Agaricus bisporus.

[0058] The structure of the above-mentioned picking execution end can be optimized by adding a spring 18, the upper end of the spring 18 is connected to the lower end of the upper hollow shaft 14, the lower end of the spring 18 is connected to the upper end of the lower rigid air pipe 11, and the spring 18 is sleeved on the flexible tube 10, such as Fig.13 , 14The provision of the spring 18 can better and more reliably realize the self-rotation of the lower rigid air pipe 11, so that the adaptive suction cup 13 can rotate a certain angle to perform a twisting operation, and can also facilitate the flexible tube 10 in a bent state to return to a vertical state more easily.

[0059] It should be noted that the adaptive suction cup 13 can be replaced by an ordinary suction cup, such as the suction cup disclosed in the invention patent application with application publication number CN114847091A and titled "A control system and control method for a mushroom picking device". Any suction cup that can absorb the mushroom cap can replace the adaptive suction cup 13.

[0060] It should be noted that the mechanism composed of the steering gear 6, the driving gear 7 and the driven gear 8 is only a specific implementation of the rotation drive mechanism, and other specific structures of the rotation drive mechanism can also be used to rotate the upper hollow shaft 14.

Claims

1. An end effector for picking mushrooms, characterized in that: It includes an upper support plate, a lower support plate, a fixed column, a rotation drive mechanism, a flexible tube, a lower rigid air tube, a spherical joint bearing, a suction cup, an upper hollow shaft, a first bearing and a spring, wherein the upper support plate is connected to the lower support plate through the fixed column; The upper hollow shaft is rotatably connected to the upper support plate through a first bearing, and the rotation drive mechanism is connected to the upper support plate, and the rotation drive mechanism is used to drive the upper hollow shaft to rotate; the upper end of the flexible tube is connected to the lower end of the upper hollow shaft, and the lower end of the flexible tube is connected to the upper end of the lower rigid air pipe; the upper end of the spring is connected to the lower end of the upper hollow shaft, and the lower end of the spring is connected to the upper end of the lower rigid air pipe, and the spring is sleeved on the flexible tube; the spherical joint bearing is connected to the lower support plate, and the spherical joint bearing is provided with an inner ring, and the lower rigid air pipe is connected to the inner ring of the spherical joint bearing, and the lower rigid air pipe passes through the spherical joint bearing; The suction cup is connected to the lower end of the lower rigid air pipe.

2. The end effector for picking mushrooms according to claim 1, characterized in that: The suction cup is an adaptive suction cup.

3. The end effector for picking mushrooms according to claim 1, characterized in that: The rotation drive mechanism includes a steering gear, a driving gear and a driven gear, the steering gear is connected to the upper support plate, the driving gear is connected to the output shaft of the steering gear, the driven gear is fixedly connected to the middle part of the upper hollow shaft, and the driven gear is meshed with the driving gear.

4. The end effector for picking mushrooms according to claim 1, characterized in that: The flexible tube is a corrugated tube.

5. The end effector for picking mushrooms according to claim 1, 2, 3 or 4, characterized in that: The end effector for picking mushrooms also includes a joint and a second bearing. The upper end of the upper hollow shaft is rotatably connected to the joint via the second bearing. A sealing ring is provided between the upper end of the upper hollow shaft and the inner wall of the joint.

6. The end effector for picking mushrooms according to claim 5, characterized in that: The connector is L-shaped.

7. The end effector for picking mushrooms according to claim 1, characterized in that: The end effector for picking mushrooms also includes a vertical fixing plate, the upper portion of which is fixedly connected to the upper support plate, and the lower portion of which is fixedly connected to the lower support plate.

8. An end effector for picking mushrooms, characterized in that: It includes an upper support plate, a lower support plate, a fixed column, a rotation drive mechanism, a flexible tube, a lower rigid air tube, a spherical joint bearing, a suction cup, an upper hollow shaft and a first bearing, wherein the upper support plate is connected to the lower support plate through the fixed column; The upper hollow shaft is rotatably connected to the upper support plate via a first bearing, the rotation drive mechanism is connected to the upper support plate, and the rotation drive mechanism is used to drive the upper hollow shaft to rotate; The upper end of the flexible tube is connected to the lower end of the upper hollow shaft, and the lower end of the flexible tube is connected to the upper end of the lower rigid air pipe; the spherical joint bearing is connected to the lower support plate, the spherical joint bearing is provided with an inner ring, the lower rigid air pipe is connected to the inner ring of the spherical joint bearing, and the lower rigid air pipe passes through the spherical joint bearing; The suction cup is connected to the lower end of the lower rigid air pipe.

9. The end effector for picking mushrooms according to claim 8, characterized in that: The suction cup is an adaptive suction cup.

10. The end effector for picking mushrooms according to claim 8 or 9, characterized in that: The end effector for picking mushrooms also includes a joint and a second bearing. The upper end of the upper hollow shaft is rotatably connected to the joint via the second bearing. A sealing ring is provided between the upper end of the upper hollow shaft and the inner wall of the joint.

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