Needle mushroom picking robot

Abstract

The invention provides a needle mushroom picking robot which comprises a mechanical arm, a picking mounting frame is mounted at the far-end arm of the mechanical arm, pipe hoops are fixedly mounted at the two ends of one side of the picking mounting frame, pneumatic clamping jaws are sequentially and fixedly mounted in the picking mounting frame at equal intervals, and a linear motor is fixedly mounted on the other side of the picking mounting frame; an electric cutting disc assembly is fixedly installed at a sliding block of the linear motor, and an air pipe fixing frame assembly is fixedly installed in the middle of the side, provided with the pipe hoop, of the picking installation frame. The linear motor drives the U-shaped frame to move, the air cylinder is used for adjusting the height of the cutting motor, the cutting disc is made to rotate, needle mushrooms are cut, the pneumatic clamping jaw is used for clamping and conveying after cutting, and therefore the production cost is saved.

Description

Technical Field

[0001] The invention belongs to the technical field of mushroom production, and in particular relates to a Flammulina velutipes picking robot. Background Art

[0002] The enoki mushroom picking robot is a device used for picking enoki mushrooms during mushroom production. An existing enoki mushroom picking, root cutting and collection device includes a walking device and a manipulator picking mechanism located above the walking device, a root cutting and collection device is arranged in front of the manipulator picking mechanism, the root cutting and collection device includes a root cutting bagging box, a clamping sheet mechanism that can move forward and backward is symmetrically arranged inside the root cutting bagging box, and a through hole for placing enoki mushrooms is arranged in the middle of the clamping sheet mechanism. When this enoki mushroom picking device is in use, its clamping structure and cutting structure are arranged separately, the production space it occupies is large and the manufacturing cost is high, and the degree of integration of cutting and clamping is low. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a Flammulina velutipes picking robot, which integrates the cutting and clamping of Flammulina velutipes, thereby improving the degree of integration and saving production space and manufacturing costs.

[0004] The present invention is achieved through the following technical solutions:

[0005] A golden needle mushroom picking robot comprises a mechanical arm, wherein a picking mounting frame is installed at the distal arm of the mechanical arm, pipe clamps are fixedly installed at both ends of one side of the picking mounting frame, pneumatic clamps are fixedly installed in sequence and equidistantly inside the picking mounting frame, a linear motor is fixedly installed on the other side of the picking mounting frame, an electric cutting disk assembly is fixedly installed on the slider of the linear motor, an air pipe fixing frame assembly is fixedly installed in the middle part of one side of the picking mounting frame where the pipe clamp is installed, the electric cutting disk assembly comprises a casing, a cylinder is fixedly installed inside the casing, an output rod of the cylinder extends to the outside of the lower end of the casing, a cutting motor is fixedly installed at the lower end of the output rod of the cylinder, a cutting disk is fixedly installed at the lower end of the output shaft of the cutting motor, a U-shaped frame is fixedly installed on the upper part of the casing, a motor is fixedly installed on the right side of the U-shaped frame, the air pipe fixing frame assembly comprises a U-shaped seat, baffles are fixedly installed on both sides of the inside of the U-shaped seat, a convex plate is fixedly installed on the front lower side of the U-shaped seat, openings are provided on both sides of the convex plate, and a cable tie is fixedly installed between the two openings.

[0006] Preferably, mounting plates are integrally provided on both sides of the front of the U-shaped frame.

[0007] Preferably, the two mounting plates are respectively fixedly mounted on the sliders of the linear motor.

[0008] Preferably, the U-shaped seat is fixedly mounted on the middle part of one side of the picking mounting frame on which the pipe clamp is mounted.

[0009] Preferably, the output shaft of the motor is connected to a U-shaped frame bearing.

[0010] Preferably, the output shaft of the motor extends to the inner side of the U-shaped frame and is fixedly connected to the casing.

[0011] Preferably, the casing is axially connected to the U-shaped frame at a position away from the side of the motor and directly opposite to the output shaft of the motor.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. In the present invention, the linear motor drives the U-shaped frame to move, and the cylinder is used to adjust the height of the cutting motor, so that the cutting disk rotates to cut the enoki mushrooms. After cutting, the pneumatic clamps are used to clamp and transport them, thereby improving the degree of integration and saving production space and manufacturing costs.

[0014] 2. In the present invention, the pipeline connected to the pneumatic clamp passes through the U-shaped seat, the blocking rods on both sides are used to limit the U-shaped seat, and the pipeline is fixed by a cable tie. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the present invention.

[0016] Figure 2 It is a structural schematic diagram of the picking mounting frame, linear motor, electric cutting disc assembly and trachea fixing frame assembly of the present invention.

[0017] Figure 3 It is a structural schematic diagram of the electric cutting disc assembly of the present invention.

[0018] Figure 4 It is a schematic diagram of the internal structure of the casing of the present invention.

[0019] Figure 5 It is a structural schematic diagram of the trachea fixing frame assembly of the present invention.

[0020] In the figure:

[0021] 1. Robotic arm; 2. Picking mounting frame; 21. Pipe clamp; 22. Pneumatic gripper; 3. Linear motor; 4. Electric cutting disc assembly; 5. Air pipe fixing frame assembly; 41. Casing; 42. U-shaped frame; 43. Mounting plate; 44. Electric motor; 45. Cutting disc; 46. Cylinder; 47. Cutting motor; 51. U-shaped seat; 52. Stop rod; 53. Convex plate; 54. Cable tie. DETAILED DESCRIPTION

[0022] The present invention will be described in detail below in conjunction with the accompanying drawings. Figure 1 and attached Figure 2As shown, a golden needle mushroom picking robot includes a mechanical arm 1, a picking mounting frame 2 is installed at the distal end of the mechanical arm 1, pipe clamps 21 are fixedly installed at both ends of one side of the picking mounting frame 2, pneumatic clamps 22 are fixedly installed in sequence and equidistantly inside the picking mounting frame 2, a linear motor 3 is fixedly installed on the other side of the picking mounting frame 2, an electric cutting disc assembly 4 is fixedly installed on the slider of the linear motor 3, and an air pipe fixing frame assembly 5 is fixedly installed in the middle of one side of the picking mounting frame 2 where the pipe clamp 21 is installed.

[0023] In this embodiment, combined with the Figure 3 and attached Figure 4 As shown, the electric cutting disc assembly 4 includes a casing 41, a cylinder 46 is fixedly installed inside the casing 41, the output rod of the cylinder 46 extends to the outside of the lower end of the casing 41, a cutting motor 47 is fixedly installed at the lower end of the output rod of the cylinder 46, and a cutting disc 45 is fixedly installed at the lower end of the output shaft of the cutting motor 47, a U-shaped frame 42 is fixedly installed on the upper part of the casing 41, and mounting plates 43 are integrally provided on both sides of the front of the U-shaped frame 42, and a motor 44 is fixedly installed on the right side of the U-shaped frame 42, and the output shaft of the motor 44 is connected to the bearing of the U-shaped frame 42, and the output shaft of the motor 44 is It extends to the inner side of the U-shaped frame 42 and is fixedly connected to the casing 41. The casing 41 is axially connected to the U-shaped frame 42 at a position away from the side of the motor 44 and directly opposite to the output shaft of the motor 44. The linear motor 3 drives the U-shaped frame 42 to move, and the cylinder 46 adjusts the height of the cutting motor 47 to rotate the cutting disk 45 to cut the enoki mushrooms. Before the pneumatic clamp 22 clamps the enoki mushrooms, the motor 44 drives the casing 41 to rotate, thereby rotating the cutting disk 45 to one side to avoid affecting the pneumatic clamp 22 to clamp the cut enoki mushrooms and transport them to the next production process.

[0024] In this embodiment, combined with the Figure 4 As shown, the trachea fixing frame assembly 5 includes a U-shaped seat 51, and baffle rods 52 are fixedly installed on both sides of the interior of the U-shaped seat 51, and a convex plate 53 is fixedly installed on the front lower side of the U-shaped seat 51. Openings are provided on both sides of the convex plate 53, and a cable tie 54 is fixedly installed between the two openings. The pipeline connecting the pneumatic clamp 22 passes through the U-shaped seat 51, and the baffle rods 52 on both sides are used to limit the U-shaped seat 51, and the pipeline is fixed by the cable tie 54.

[0025] In this embodiment, specifically, the two mounting plates 43 are respectively fixedly mounted on the sliders of the linear motor 3 .

[0026] In this embodiment, specifically, the U-shaped seat 51 is fixedly mounted on the middle part of one side of the picking mounting frame 2 where the pipe clamp 21 is mounted.

[0027] How it works

[0028] In the present invention, the robotic arm 1 is connected to an external control device, and the pneumatic clamp 22 is connected to an external control device for controlling the pneumatic clamp 22 through a pipeline. The robotic arm 1 drives the picking mounting frame 2 to move, the pipe clamp 21 and the air pipe fixing frame assembly 5 are used to fix the pipeline connecting the pneumatic clamp 22, and the electric cutting disc assembly 4 is used to cut enoki mushrooms.

[0029] Utilizing the technical solution described in the present invention, or those skilled in the art designing a similar technical solution inspired by the technical solution of the present invention to achieve the above-mentioned technical effects, all fall within the protection scope of the present invention.

Claims

1. A robot for picking enoki mushrooms, characterized in that: The golden needle mushroom picking robot comprises a mechanical arm (1), a picking mounting frame (2) is installed at the distal arm of the mechanical arm (1), pipe clamps (21) are fixedly installed at both ends of one side of the picking mounting frame (2), pneumatic clamps (22) are fixedly installed in sequence at equal intervals inside the picking mounting frame (2), a linear motor (3) is fixedly installed on the other side of the picking mounting frame (2), an electric cutting disc assembly (4) is fixedly installed on the slider of the linear motor (3), an air pipe fixing frame assembly (5) is fixedly installed in the middle of one side of the picking mounting frame (2) where the pipe clamp (21) is installed, and the electric cutting disc assembly (4) comprises a housing (41), and a cylinder (46) is fixedly installed inside the housing (41). The output rod of the cylinder (46) extends to the outside of the lower end of the casing (41); a cutting motor (47) is fixedly mounted on the lower end of the output rod of the cylinder (46); a cutting disc (45) is fixedly mounted on the lower end of the output shaft of the cutting motor (47); a U-shaped frame (42) is fixedly mounted on the upper part of the casing (41); a motor (44) is fixedly mounted on the right side of the U-shaped frame (42); the air pipe fixing frame assembly (5) comprises a U-shaped seat (51); baffles (52) are fixedly mounted on both sides of the interior of the U-shaped seat (51); a convex plate (53) is fixedly mounted on the lower front side of the U-shaped seat (51); openings are provided on both sides of the convex plate (53); and a cable tie (54) is fixedly mounted between the two openings.

2. The enoki mushroom picking robot according to claim 1, characterized in that: Mounting plates (43) are integrally provided on both sides of the front of the U-shaped frame (42).

3. The enoki mushroom picking robot according to claim 1, characterized in that: The two mounting plates (43) are respectively fixedly mounted on the sliders of the linear motor (3).

4. The enoki mushroom picking robot according to claim 1, characterized in that: The U-shaped seat (51) is fixedly mounted on the middle part of one side of the picking mounting frame (2) where the pipe clamp (21) is mounted.

5. The enoki mushroom picking robot according to claim 1, characterized in that: The output shaft of the motor (44) is connected to the bearing of the U-shaped frame (42).

6. The enoki mushroom picking robot according to claim 1, characterized in that: The output shaft of the motor (44) extends to the inner side of the U-shaped frame (42) and is fixedly connected to the casing (41).

7. The enoki mushroom picking robot according to claim 1, characterized in that: The housing (41) is axially connected to the U-shaped frame (42) at a position away from the side of the motor (44) and directly opposite to the output shaft of the motor (44).

Images