Maitake picking robot

Abstract

The invention provides a maitake picking robot which comprises a moving frame, and a picking box is placed on the left side of the surface of the moving frame; side supporting plates are welded to the periphery of the lower end of the movable frame, and movable wheels are connected into the side supporting plates through shafts. Ultrasonic sensors are embedded in the periphery of the interior of the movable frame. Movable motors are fixed to the inner sides of the side supporting plates through bolts, and output shafts of the movable motors are embedded into the movable wheels to drive the movable wheels to move; a hollow shell is fixed to the right side of the upper surface of the movable frame through bolts. The upper end of the hollow shell is coupled with a turntable; a vertical shell base is welded to the upper end of the rotary table, and an electric sliding table is fixed into the vertical shell base through bolts. The surface of the movable frame is in bolted connection with a control cabinet and arranged in front of the hollow shell. Through the arrangement of the grabbing movable adjusting claw structure, the overall inclination angle is adjusted, and in this way, when maitake with different sizes is grabbed, it is avoided that when the maitake is touched, damage is caused to the maitake, and the integrity of the maitake is affected.

Description

Technical Field

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

[0002] The scientific name of Maitake is a large edible fungus belonging to the Polyporaceae family. The picking robot is an instrument device that uses machine vision perception and robotic arm control technology to autonomously identify, locate and pick mature Maitake mushrooms during the greenhouse cultivation process. However, the cultivated Maitake mushrooms may vary in size and some parts of them are relatively fragile, and the curvature of the picking mechanical claws is limited. Therefore, picking larger Maitake mushrooms will squeeze the fragile parts and cause damage, affecting the integrity of the Maitake mushrooms. The grasping force is not convenient to control accurately, and it is easy to exert a large force at the grasping part, causing damage to the Maitake mushrooms, or exert a small force to make it impossible to pick the Maitake mushrooms. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a maitake mushroom picking robot, which can realize the function of adjusting the curvature of the mechanical claw, so as to avoid damaging the maitake mushroom and affecting its integrity when grasping larger maitake mushrooms, and detect the pressure force during the grasping process and perform precise control to avoid exerting a large force to damage the maitake mushrooms or exerting a small force to make it impossible to pick the maitake mushrooms.

[0004] The technical scheme is as follows: a maitake mushroom picking robot comprises a mobile frame, a picking box is placed on the left side of the mobile frame surface; side support plates are welded around the lower end of the mobile frame, and mobile wheels are axially connected inside the side support plates; ultrasonic sensors are inlaid around the inside of the mobile frame; a mobile motor is bolted to the inner side of the side support plates, and the output shaft is embedded in the mobile wheel to drive the movement; a hollow shell is bolted to the right side of the upper surface of the mobile frame; a turntable is axially connected to the upper end of the hollow shell; a vertical shell seat is welded to the upper end of the turntable, and an electric slide is bolted inside the vertical shell seat; a control cabinet is bolted to the surface of the mobile frame and is arranged in front of the hollow shell; a PLC, an Internet of Things module, a switch button and a display that are electrically connected to each other are bolted inside the control cabinet; a mobile electric cylinder is bolted to the surface of the electric slide; A grabbing movable adjustment claw structure is supported on the output shaft of the mobile electric cylinder; an auxiliary positioning and measuring seat structure is bolted to the top of the vertical shell seat, and is characterized in that the grabbing movable adjustment claw structure includes a positioning main seat, and the front and rear sides inside the positioning main seat are both axially connected with a first clamping plate; a first stepper motor is inlaid on the upper end of the first clamping plate, and the first stepper motor is distributed on the front and rear sides above the positioning main seat for bolt installation; a first angle sensor is inlaid on the lower end of the first clamping plate, and the first angle sensor is distributed on the front and rear sides below the positioning main seat for bolt installation; a first camera is bolted to the left side inside the positioning main seat; a flip adjustment box structure is connected to the right end of the positioning main seat; a clamping pressure measuring seat structure is axially connected to the left side of the first clamping plate; a second stepper motor and a second angle sensor are bolted to the upper and lower parts of the first clamping plate respectively.

[0005] Preferably, the flip adjustment box structure includes an empty shell, and a third stepper motor is arranged inside the empty shell; a maintenance cover is arranged on the left side of the empty shell, and can be bolted to each other; the right side of the maintenance cover can be bolted to the third stepper motor.

[0006] Preferably, the clamping pressure measuring seat structure includes a second clamping plate, and an embedding groove is opened on the left side of the second clamping plate; pressure sensors are arranged around the inside of the embedding groove, and the pressure sensors are bolted to the second clamping plate; a pressure measuring clamping plate is arranged at the front of the second clamping plate, and the pressure measuring clamping plate can be bolted to the front end of the pressure sensor.

[0007] Compared with the prior art, the present invention has the following beneficial effects:

[0008] In the present invention, the positioning main seat and the first camera are arranged to observe the position and size of the maitake mushroom.

[0009] In the present invention, the first stepper motor, the first angle sensor, the second stepper motor and the second angle sensor are arranged to control the first clamping plate and the second clamping plate to be flexibly adjusted for use.

[0010] In the present invention, the first clamping plate and the second clamping plate are arranged to adjust the overall tilt angle, so that when grabbing maitake mushrooms of different sizes, it is avoided to touch the fragile parts thereof and cause damage thereto, thereby affecting the integrity of the maitake mushrooms.

[0011] In the present invention, the arrangement of the empty shell, the third stepper motor and the maintenance cover drives the clamping part to adjust the angle, thereby bypassing the larger part of the maitake mushroom for grasping and picking, avoiding damage to the maitake mushroom.

[0012] In the present invention, the pressure sensor and the pressure measuring clamp are set to detect the pressure when grabbing the roots of the maitake mushroom, and then control it according to the set pressure range to prevent excessive pressure from causing damage to the maitake mushroom or prevent the maitake mushroom from being unable to be grabbed and picked due to low pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the present invention.

[0014] Figure 2 It is a structural schematic diagram of the grabbing movable adjusting claw structure of the present invention.

[0015] Figure 3 It is a structural schematic diagram of the grabbing movable adjusting claw structure of the present invention.

[0016] Figure 4 It is a structural schematic diagram of the flip adjustment box structure of the present invention.

[0017] Figure 5 It is a structural schematic diagram of the auxiliary positioning measurement seat structure of the present invention.

[0018] Figure 6 It is a structural schematic diagram of the auxiliary positioning measurement seat structure of the present invention.

[0019] In the figure:

[0020] 1. Mobile rack; 2. Picking box; 3. Side support plate; 4. Mobile motor; 5. Mobile wheel; 6. Ultrasonic sensor; 7. Hollow shell; 8. Turntable; 9. Control cabinet; 10. PLC; 11. Internet of Things module; 12. Switch button; 13. Display; 14. Vertical shell seat; 15. Electric slide; 16. Mobile electric cylinder; 17. Auxiliary positioning and measuring seat structure; 171. Hollow column; 172. Protective cover; 173. Second camera; 174. LED light; 18. Grasping movable adjustment claw Structure; 181, main positioning seat; 182, first stepper motor; 183, first angle sensor; 184, first clamp; 185, first camera; 186, flip adjustment box structure; 1861, empty shell; 1862, third stepper motor; 1863, maintenance cover; 187, clamping pressure measuring seat structure; 1871, second clamp; 1872, embedded groove; 1873, pressure sensor; 1874, pressure measuring clamp; 188, second stepper motor; 189, second angle sensor. DETAILED DESCRIPTION

[0021] The present invention is further described below in conjunction with the accompanying drawings:

[0022] Example:

[0023] As attached Figure 1 As shown, a maitake mushroom picking robot includes a moving frame 1, a picking box 2 is placed on the left side of the surface of the moving frame 1; side support plates 3 are welded around the lower end of the moving frame 1, and moving wheels 5 are axially connected inside the side support plates 3; ultrasonic sensors 6 are inlaid around the inside of the moving frame 1; a moving motor 4 is bolted to the inner side of the side support plates 3, and the output shaft is embedded in the moving wheel 5 to drive the movement; a hollow shell 7 is bolted to the right side of the upper surface of the moving frame 1; a turntable 8 is axially connected to the upper end of the hollow shell 7; a vertical shell 7 is welded on the upper end of the turntable 8 The movable frame 1 is provided with a hollow shell 7 and a control cabinet 9 is connected to the movable frame 1 on the surface of the movable frame 1. The movable frame 1 is provided with a control cabinet 9 which is connected to the hollow shell 7 in front of the movable frame 1. The control cabinet 9 is provided with a PLC 10, an Internet of Things module 11, a switch button 12 and a display 13 which are electrically connected to each other. A movable electric cylinder 16 is fixed to the surface of the electric slide 15 with bolts. A movable adjusting claw structure 18 is supported on the output shaft of the movable electric cylinder 16. An auxiliary positioning and measuring seat structure 17 is fixed to the top of the vertical shell frame 14 with bolts.

[0024] As attached Figure 2 and attached Figure 3As shown, in the above embodiment, specifically, the grabbing movable adjusting claw structure 18 includes a positioning main seat 181, and the front and rear sides of the interior of the positioning main seat 181 are both axially connected with a first clamping plate 184; the upper end of the first clamping plate 184 is inlaid with a first stepper motor 182, and the first stepper motor 182 is distributed on the front and rear sides above the positioning main seat 181 for bolt installation; the lower end of the first clamping plate 184 is inlaid with a first angle sensor 183, and the first angle sensor 183 is distributed on the front and rear sides below the positioning main seat 181 for Bolt installation; the first camera 185 is fixed by bolts on the left side inside the positioning main seat 181; the flip adjustment box structure 186 is connected to the right end of the positioning main seat 181; the left side axis of the first clamping plate 184 is connected to the clamping pressure measuring seat structure 187; the upper and lower parts of the first clamping plate 184 are respectively bolted to the second stepper motor 188 and the second angle sensor 189; both drive the first stepper motor 182 to drive the first clamping plate 184 to move and drive the second stepper motor 188 to drive the second clamping plate 1871 to move to grab the maitake mushroom.

[0025] As attached Figure 4 As shown, in the above embodiment, specifically, the flip adjustment box structure 186 includes an empty shell 1861, and a third stepper motor 1862 is arranged inside the empty shell 1861; a maintenance cover 1863 is arranged on the left side of the empty shell 1861, and can be bolted to each other; the right side of the maintenance cover 1863 can be bolted to the third stepper motor 1862; during the picking process, when the first camera 185 detects that the position of the maitake mushroom part is large and affects the picking, the third stepper motor 1862 is driven, and with the cooperation of the first camera 185, the positioning main seat 181, the first clamping plate 184 and the second clamping plate 1871 are driven to rotate.

[0026] As attached Figure 5 As shown, in the above embodiment, specifically, the clamping pressure measuring seat structure 187 includes a second clamping plate 1871, and an embedding groove 1872 is opened on the left side of the second clamping plate 1871; pressure sensors 1873 are arranged on all sides inside the embedding groove 1872, and the pressure sensor 1873 is bolted to the second clamping plate 1871; a pressure measuring clamping plate 1874 is arranged at the front of the second clamping plate 1871, and the pressure measuring clamping plate 1874 can be bolted to the front end of the pressure sensor 1873; during the grasping process, the pressure measuring clamping plate 1874 contacts the maitake mushroom and controls the grasping force through the pressure sensor 1873 to measure the pressure.

[0027] As attached Figure 6 As shown, in the above embodiment, specifically, the auxiliary positioning and measuring seat structure 17 includes a hollow column 171, and a protective cover 172 is bolted to the top of the hollow column 171; the second camera 173 and the LED light 174 are embedded around the inside of the protective cover 172.

[0028] In the above embodiment, specifically, a motor is fixed by bolts inside the hollow shell 7, and the output shaft is connected to the turntable 8, and the motor is electrically connected to the PLC 10.

[0029] In the above embodiment, specifically, the first stepper motor 182 and the first angle sensor 183 are both provided in plurality and connected to the upper and lower ends of one side of the first clamping plate 184 .

[0030] In the above embodiment, specifically, the output shafts of the second stepper motor 188 and the second angle sensor 189 are embedded in the upper and lower ends of the second clamping plate 1871 .

[0031] In the above embodiment, specifically, the second clamping plate 1871 is axially connected to the left end of the first clamping plate 184 , and the second clamping plate 1871 and the first clamping plate 184 are both distributed at the front and rear sides of the positioning main seat 181 .

[0032] In the above embodiment, specifically, the interior of the maintenance cover 1863 is aligned with the right side of the positioning main seat 181 , and the maintenance cover 1863 is supported by the empty shell 1861 , while the empty shell 1861 is bolted to the output shaft of the mobile electric cylinder 16 .

[0033] In the above embodiment, specifically, the output shaft of the third stepper motor 1862 is connected to the positioning main seat 181 inside the maintenance cover 1863 to drive its movement.

[0034] In the above embodiment, specifically, a plurality of pressure sensors 1873 are provided and connected to the four corners of the pressure measuring clamp 1874 for pressure measuring control.

[0035] In the above embodiment, specifically, the pressure measuring clamp 1874 is connected through the embedding groove 1872, and the pressure measuring clamp 1874 is arranged at the edge of the second clamp 1871 to clamp the maitake mushroom.

[0036] In the above embodiment, specifically, the hollow column 171 is supported on the top of the vertical shell seat 14 by bolts, and the protective cover 172 at the upper end is a PVC transparent cover.

[0037] In the above embodiment, specifically, the second camera 173 and the LED light 174 are both provided in plurality and distributed around the protective cover 172 .

[0038] In the above embodiment, specifically, the mobile motor 4, ultrasonic sensor 6, Internet of Things module 11, switch button 12, display 13, electric slide 15, mobile electric cylinder 16, first stepper motor 182, first angle sensor 183, first camera 185, second stepper motor 188, second angle sensor 189, third stepper motor 1862, pressure sensor 1873, second camera 173 and LED light 174 are electrically connected to PLC 10 respectively, and the network is connected to the computer terminal for operation.

[0039] In the above embodiment, specifically, the working principle is as follows: when the cultivated maitake mushrooms are picked, the multi-position mobile motor 4 is driven to make the mobile wheel 5 drive the mobile frame 1 to move, and the ultrasonic sensor 6 is used to limit and ensure the movement between the breeding frames. During the movement, the LED light 174 and the second camera 173 collect the position of the maitake mushrooms and drive the electric slide 15 and the mobile electric cylinder 16 to cooperate with the positioning main seat 181 to move, and during the movement, the first camera 185 performs secondary positioning, so that the positioning main seat 181 can be driven to approach the maitake mushrooms. After approaching, the first stepper motor 182 is driven to drive the first splint 184 to move and the second stepper motor 188 is driven The second clamping plate 1871 is moved to grab the maitake mushroom. During the grabbing process, the pressure measuring clamping plate 1874 contacts the maitake mushroom and controls the grabbing force through the pressure sensor 1873. After grabbing the root of the maitake mushroom, the mobile electric cylinder 16 is driven to pull and pick it. After picking, it moves again to the top of the picking box 2 to place it to complete the picking work. During the picking process, when the first camera 185 detects that the position of the maitake mushroom is large and affects the picking, the third stepper motor 1862 is driven to drive the positioning main seat 181, the first clamping plate 184 and the second clamping plate 1871 to rotate at an angle to bypass the larger position for grabbing and picking with the cooperation of the first camera 185.

[0040] 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 maitake mushroom picking robot, comprising a moving frame (1), a picking box (2) being placed on the left side of the surface of the moving frame (1); side support plates (3) are welded around the lower end of the moving frame (1), and moving wheels (5) are axially connected inside the side support plates (3); ultrasonic sensors (6) are inlaid around the inside of the moving frame (1); a moving motor (4) is bolted to the inner side of the side support plates (3), and the output shaft is embedded in the moving wheel (5) to drive the movement; a hollow shell (7) is bolted to the right side of the upper surface of the moving frame (1); a turntable (8) is axially connected to the upper end of the hollow shell (7); a vertical The housing seat (14) is provided with an electric slide (15) bolted inside the vertical housing seat (14); the surface of the mobile frame (1) is bolted with a control cabinet (9) and is arranged in front of the hollow housing (7); the control cabinet (9) is bolted with a PLC (10), an Internet of Things module (11), a switch button (12) and a display (13) which are electrically connected to each other; a mobile electric cylinder (16) is bolted on the surface of the electric slide (15); a grabbing movable adjustment claw structure (18) is supported on the output shaft of the mobile electric cylinder (16); an auxiliary positioning and measuring seat structure (17) is bolted on the top of the vertical housing seat (14), characterized in that: The grabbing movable adjustment claw structure (18) comprises a positioning main seat (181), and the front and rear sides of the positioning main seat (181) are both axially connected with a first clamping plate (184); the upper end of the first clamping plate (184) is inlaid with a first stepper motor (182), and the first stepper motor (182) is distributed on the front and rear sides above the positioning main seat (181) and is bolted; the lower end of the first clamping plate (184) is inlaid with a first angle sensor (183), and the first angle sensor (183) is distributed on the front and rear sides below the positioning main seat (181) and is bolted; the left side of the positioning main seat (181) is bolted with a first camera (185); the right end of the positioning main seat (181) is connected with a flip adjustment box structure (186); the left side of the first clamping plate (184) is axially connected with a clamping pressure measuring seat structure (187); the upper and lower parts of the first clamping plate (184) are respectively bolted with a second stepper motor (188) and a second angle sensor (189).

2. The maitake mushroom picking robot according to claim 1, characterized in that: The flip adjustment box structure (186) comprises an empty shell (1861), wherein a third stepping motor (1862) is arranged inside the empty shell (1861); a maintenance cover (1863) is arranged on the left side of the empty shell (1861), and the two can be bolted to each other; and the right side of the maintenance cover (1863) can be bolted to the third stepping motor (1862).

3. The maitake mushroom picking robot according to claim 1, characterized in that: The clamping pressure measuring seat structure (187) includes a second clamping plate (1871), and an embedding groove (1872) is opened on the left side of the second clamping plate (1871); pressure sensors (1873) are arranged around the inside of the embedding groove (1872), and the pressure sensor (1873) is bolted to the second clamping plate (1871); a pressure measuring clamping plate (1874) is arranged at the front of the second clamping plate (1871), and the pressure measuring clamping plate (1874) can be bolted to the front end of the pressure sensor (1873).

4. The maitake mushroom picking robot according to claim 1, characterized in that: The auxiliary positioning and measuring seat structure (17) comprises a hollow column (171), a protective cover (172) being fixed by bolts at the top end of the hollow column (171); a second camera (173) and an LED light (174) are embedded around the inside of the protective cover (172).

5. The maitake mushroom picking robot according to claim 1, characterized in that: The hollow shell (7) is internally bolted with a motor, and the output shaft is connected to the turntable (8), while the motor is electrically connected to the PLC (10).

6. The maitake mushroom picking robot according to claim 1, characterized in that: The first stepper motor (182) and the first angle sensor (183) are both provided in plurality and are connected to the upper and lower ends of one side of the first clamping plate (184); the output shafts of the second stepper motor (188) and the second angle sensor (189) are both embedded in the upper and lower ends of the second clamping plate (1871).

7. The maitake mushroom picking robot according to claim 3, characterized in that: The second clamping plate (1871) is axially connected to the left end of the first clamping plate (184), and the second clamping plate (1871) and the first clamping plate (184) are both distributed on the front and rear sides of the positioning main seat (181); a plurality of pressure sensors (1873) are provided and connected to the four corners of the pressure measuring clamping plate (1874) for pressure measurement control.

8. The maitake mushroom picking robot according to claim 2, characterized in that: The interior of the maintenance cover (1863) is located on the right side of the main positioning seat (181), and the maintenance cover (1863) is supported by the hollow shell (1861), and the hollow shell (1861) is bolted to the output shaft of the mobile electric cylinder (16).

9. The maitake mushroom picking robot according to claim 2, characterized in that: The output shaft of the third stepper motor (1862) is connected to the positioning main seat (181) inside the maintenance cover (1863) to drive its movement.

10. The maitake mushroom picking robot according to claim 3, characterized in that: The pressure measuring clamp (1874) is connected to the embedding groove (1872) in an interlaced manner, and the pressure measuring clamp (1874) is arranged at the edge of the second clamp (1871) to clamp the maitake mushroom.

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