Automatic mushroom picking robot

Abstract

The invention relates to an automatic mushroom picking robot which solves the technical problem that mushrooms picked by a picking actuator of an existing automatic mushroom picking robot adhere to a small amount of soil particles, and the quality of output mushrooms is affected, and the automatic mushroom picking robot comprises a base, a walking mechanism, the picking actuator, an X-axis moving mechanism, a Y-axis moving mechanism and a conveying device. The conveying device is provided with a base plate and a conveying belt, the automatic mushroom picking robot further comprises a banister brush flange, and the banister brush flange is fixedly connected to the base plate of the conveying device and located on the side face of the conveying belt. The picking efficiency and the mushroom quality are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic mushroom picking, in particular to an automatic mushroom picking robot. Background Art

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

[0003] Agaricus bisporus cultivation has achieved large-scale factory production. Factory-grown mushroom houses are not restricted by seasons, allowing for daily fruiting and year-round production, resulting in high yields and profitable returns. Factory-grown mushroom houses are typically 20-30 meters long, 6-10 meters wide, and 5-6 meters high. They can be equipped with two to four rows of multi-layered beds running the length of the house. These beds are typically made of metal structural profiles, 1-1.6 meters wide, with five to six layers, and 50-70 centimeters between them. The lowest bed is approximately 30 centimeters from the ground, while the highest is at least 1 meter from the roof. Passageways between the beds are 80-100 centimeters wide, and the passageways between the beds and the walls are 40-80 centimeters wide.

[0004] Agaricus bisporus cultivation is a labor-intensive industry. In recent years, labor costs have been rising. Furthermore, 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 costs faced by Agaricus bisporus cultivation factories are becoming increasingly serious. Automatic picking and harvesting by automated picking robots can save manpower, improve efficiency, and reduce costs. For information on the structure and working method of the automatic picking robot, please refer to the invention application with publication number CN 113940239 A, entitled "Intelligent Picking System," and the utility model patent with authorization publication number "CN217372374U," entitled "A Mobile Agaricus Bisporus Picking Robot."

[0005] However, during the operation of the existing automatic picking robot, some mushrooms picked by the picking actuator are stuck with a small amount of soil particles, which affects the quality of the output mushrooms. Summary of the Invention

[0006] The purpose of this application is at least to solve the technical problem that the mushrooms picked by the picking actuator of the existing automatic mushroom picking robot are sticky with a small amount of dirt particles, which affects the quality of the output mushrooms, and to provide an automatic mushroom picking robot that can effectively clean up a small amount of dirt particles and other foreign matter on the mushrooms.

[0007] The present invention provides an automatic mushroom picking robot, which includes a base, a walking mechanism, a picking actuator, an X-axis moving mechanism, a Y-axis moving mechanism and a conveying device. The conveying device is provided with a base plate and a conveyor belt. The automatic mushroom picking robot also includes a soft brush rib, which is fixedly connected to the base plate of the conveying device and is located on the side of the conveyor belt.

[0008] Preferably, two soft brush ribs are provided, and the two soft brush ribs are located on both sides of the conveyor belt.

[0009] Preferably, the conveyor belt is provided with a first conveying part and a second conveying part; three soft brush ribs are provided, the first soft brush rib is located on the outside of the first conveying part, the second soft brush rib is located between the first conveying part and the second conveying part, and the third soft brush rib is located on the outside of the second conveying part.

[0010] Preferably, the automatic mushroom picking robot further includes a root cutting device.

[0011] Preferably, the root cutting device includes a root cutting connecting seat, a forward driving motor, a driving gear, a driven rack, an electric finger clamp and two scissor blades. The root cutting connecting seat is connected to the Y-axis moving mechanism. A linear slide is fixed to the bottom of the root cutting connecting seat. The driven rack cooperates with the linear slide via a forward sliding block. The forward driving motor is fixedly connected to the root cutting connecting seat. The driving gear is connected to the output end of the forward driving motor. The driving gear is meshed with the driven rack. The electric finger clamp is fixedly connected to the driven rack. The two scissor blades are connected to the two clamps of the electric finger clamp. The two scissor blades face the conveyor belt of the conveying device.

[0012] Preferably, the picking actuator is provided with a suction cup, and the automatic mushroom picking robot also includes a suction cup cleaning assembly, which includes a suction cup cleaning trough, a brush disc, a cleaning motor, a water collecting tank, an inlet pump and a drainage pump. The suction cup cleaning trough is provided with a water inlet and a water outlet, the brush disc is located in the suction cup cleaning trough, the cleaning motor is fixedly connected to the bottom of the suction cup cleaning trough, the brush disc is connected to the output shaft of the cleaning motor through a rotating shaft, and a plurality of bristles are provided on the surface of the brush disc; the water collecting tank is connected to the water inlet pump and the water inlet of the suction cup cleaning trough in sequence through a water supply pipeline, and is connected to the drainage pump and the water outlet of the suction cup cleaning trough in sequence through a return water pipeline to form a water flow loop.

[0013] The present invention also provides an automatic mushroom picking robot, comprising a base, a walking mechanism, a picking actuator, an X-axis moving mechanism, a Y-axis moving mechanism and a conveying device, and is characterized in that the picking actuator is provided with a suction cup, and the automatic mushroom picking robot also includes a suction cup cleaning assembly, the suction cup cleaning assembly includes a suction cup cleaning trough, a brush plate, a cleaning motor, a water collecting tank, an inlet pump and a drainage pump, the suction cup cleaning trough is provided with a water inlet and a water outlet, the brush plate is located in the suction cup cleaning trough, the cleaning motor is fixedly connected to the bottom of the suction cup cleaning trough, the brush plate is connected to the output shaft of the cleaning motor through a rotating shaft, and a plurality of bristles are provided on the surface of the brush plate; the water collecting tank is connected to the water inlet pump and the water inlet of the suction cup cleaning trough in sequence through a water supply pipeline, and is connected to the drainage pump and the water outlet of the suction cup cleaning trough in sequence through a return water pipeline to form a water flow loop.

[0014] The present invention also provides an automatic mushroom picking robot, comprising a base, a walking mechanism, a picking actuator, an X-axis moving mechanism, a Y-axis moving mechanism and a conveying device. The characteristic is that the automatic mushroom picking robot also includes a soft brush rib, which is located on the side of the conveying device.

[0015] The beneficial effect of the present invention is that the mushrooms picked by the picking actuator may have a small amount of dirt particles attached to them. When the mushrooms pass through the soft brush guard, the dirt particles on the mushrooms are scraped off by the soft brush, ensuring that the mushrooms are transported out in a clean state, thereby improving the picking quality.

[0016] Clean away foreign matter that affects the function of the suction cup attached to the surface of the picking actuator to ensure the normal adsorption effect of the suction cup and improve the picking efficiency.

[0017] Further features and aspects of the present disclosure will be clearly described in the following description of the specific embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is an axonometric view of the mushroom harvesting robot system;

[0019] Figure 2 It is a structural diagram of the automatic picking robot in the present invention;

[0020] Figure 3 It is a partial structural diagram of the root cutting and conveying device of the present invention;

[0021] Figure 4 This is a partial structural diagram of the root cutting and conveying device of the present invention from another angle;

[0022] Figure 5 It is a structural schematic diagram of the dishwashing and cleaning assembly of the present invention;

[0023] Figure 6 yes Figure 2 A partial enlarged view of middle A;

[0024] Figure 7 yes Figure 2 A partial enlarged view of B in the middle;

[0025] Figure 8 It is a schematic diagram of the structure of the connection between the bristles and the brush plate in the suction cup cleaning assembly.

[0026] Explanation of symbols in the figure:

[0027] 100. Automatic picking robot; 101. Base; 102. Traveling mechanism; 103. Picking actuator; 104. X-axis moving mechanism; 105. Y-axis moving mechanism; 106. Base plate; 10601. Trough; 10602. Trough; 10603. Discharge port; 107. Conveyor drive motor; 108. Active conveyor roller; 109. Driven conveyor roller; 110. Conveyor belt; 11001. First conveyor section; 11002. Second conveyor section; 111. Soft brush rib; 112. Root cutting connector; 113. Forward drive motor; 114. Drive gear; 115. Driven rack; 1 16. Electric finger gripper; 117. Scissor blade; 118. Linear slide; 119. Forward slider; 120. First proximity switch; 121. Second proximity switch; 122. Sensor block; 123. Suction cup cleaning trough; 124. Brush plate; 125. Cleaning motor; 126. Water collecting tank; 127. Water inlet pump; 128. Drain pump; 129. Door frame; 130. Door baffle; 131. Door shaft; 132. Door shaft rotation motor; 133. Brush; 200. Automatic collection device; 300. Multi-layer bed frame; 301. Robot storage rack; 302. Robot transfer rack; 500. Transfer forklift. DETAILED DESCRIPTION

[0028] The present application will be further described in detail below with reference to the accompanying drawings using specific embodiments.

[0029] The specific embodiments described below are merely preferred embodiments of the present application, and the scope of protection of the present application is not limited thereto. Those skilled in the art may make some modifications or variations based on or in accordance with the principles, concepts, and spirit of the present application, and the technical solutions formed by such modifications or variations shall be included within the scope of protection of the present application.

[0030] like Figure 1 As shown, the present invention provides a mushroom harvesting robot system, including an automatic picking robot 100 and an automatic collecting device 200. Figure 2-Figure 6As shown, the automatic picking robot 100 includes a base 101, a walking mechanism 102, a picking actuator 103, an X-axis moving mechanism 104, a Y-axis moving mechanism 105, a conveying device and a root cutting device. The base 101, walking mechanism 102, picking actuator 103, X-axis moving mechanism 104 and Y-axis moving mechanism 105 of the above-mentioned automatic picking robot 100 are basically the same as the base 101, walking mechanism 102, picking actuator 103, first X-axis mounting plate, second X-axis mounting plate, first Y-axis mounting plate, second Y-axis mounting plate and the drive component structure on each mounting plate in the authorization announcement number CN113940239B, which is named as the intelligent picking system. The conveying device includes a base plate 106, a conveying drive motor 107, an active conveying roller 108, a driven conveying roller 109, a conveyor belt 110, and a soft brush rib 111. The conveying drive motor 107 is fixed to the proximal end of the base plate 106, the active conveying roller 108 is connected to the output end of the conveying drive motor 107, and the driven conveying roller 109 is rotatably mounted on the distal end of the base plate 106. The conveyor belt 110 is connected to the active conveying roller 108 and the driven conveying roller 109. The conveying drive motor 107 operates through the active conveying roller 108 and the driven conveying roller 109 to operate the conveyor belt 110. The conveyor belt 110 consists of two parts: a first conveying portion 11001 and a second conveying portion 11002. The second conveying portion 11002 is used to convey mushroom roots, and the first conveying portion 11001 is used to convey mushrooms (caps). The soft brush ribs 111 are fixedly mounted on the base plate 106. Three soft brush ribs 111 are arranged side by side: the first soft brush rib 111 is located outside the first conveying portion 11001, the second soft brush rib 111 is located between the first conveying portion 11001 and the second conveying portion 11002, and the third soft brush rib 111 is located outside the second conveying portion 11002. A groove 10602 is formed between the second and third soft brush ribs 111, and a groove 10601 is formed between the first and second soft brush ribs 111. A discharge port 10603 is provided on the base 101 at the distal end of the base plate 106. The soft brush retaining edge 111 forms a retaining surface with a certain blocking force. When the mushrooms picked by the picking actuator 103 move along the Y-axis direction driven by the Y-axis moving mechanism 105, the picked mushrooms can pass through the soft brush retaining edge 111 (the soft brush composed of multiple vertical soft bristles is passed through by the mushrooms).The number of the root cutting connection seat 112, the forward driving motor 113, the driving gear 114, the driven rack 115, the electric finger gripper 116 and the scissor blade 117 is the same as the number of the Y-axis mounting plates in the Y-axis moving mechanism 105. In this solution, the automatic picking robot 100 basic mechanism in CN113940239B is adopted. The Y-axis moving mechanism 105 includes a first Y-axis mounting plate and a second Y-axis rotating plate. Therefore, the two root cutting connection seats 112 are respectively fixed to the corresponding first Y-axis mounting plate and the second Y-axis mounting plate near the groove 10602. At one lower side, a linear slide 118 is fixed to the bottom of the root cutting connection base 112. The driven rack 115 engages with the linear slide 118 via a forward slider 119. The forward drive motor 113 is fixed above the root cutting connection base 112. The output end of the forward drive motor 113 is connected to a drive gear 114 that meshes with the driven rack 115. The electric finger clamp 116 is fixed to the bottom surface of the driven rack 115. Two scissor blades 117 are fixed to the two jaws of the electric finger clamp 116 and are arranged toward one side of the groove 10602. The root cutting connection base 112, forward drive motor 113, drive gear 114, driven rack 115, electric finger clamp 116, scissor blades 117, linear slide 118, and forward slider 119 constitute a root cutting device, which has two sets. The picking actuator 103 moves with the Y-axis moving mechanism 105 and the X-axis moving mechanism 104 to move the picked mushrooms to the slot 10602. The forward driving motor 113 drives the driven rack 115 and the electric finger gripper 116 in the open state to move until the front of the two scissor blades 117 reaches the mushroom root (the mushroom root is located between the two scissor blades 117). The electric finger gripper 116 drives the two scissor blades 117 to close, and the root of the mushroom is cut off and falls onto the second conveyor 11002. In order to more accurately control the forward and backward positions of the electric finger gripper 116 according to the movement position of the driven rack 115, the first position and the second position of the root cutting connecting seat 112 are respectively connected to the first proximity switch 120 and the second proximity switch 121, and the driven rack 115 is provided with a sensing block 122 for cooperating with the first proximity switch 120 and the second proximity switch 121 for sensing; specifically, the first proximity switch 120 can be a magnetic sensor, the second proximity switch 121 can be a magnetic sensor, and the sensing block 122 can be a magnet.

[0031] The soft brush rib 111 functions, firstly, to remove dirt particles from mushrooms picked by the picking actuator 103. As the mushrooms pass through the soft brush rib 111, these dirt particles are scraped off, ensuring that the mushrooms are delivered clean. Secondly, it serves as a guide, facilitating the smooth and reliable delivery of mushrooms (caps) by the first conveyor section 11001 of the conveyor belt 110. Some mushrooms are blocked by the soft brush rib 111 across the width of the conveyor belt 110 as they move toward the discharge port 10603. This facilitates the smooth and reliable delivery of mushroom roots by the second conveyor section 11002.

[0032] One action process of the robot picking operation is: after the picking actuator 103 picks a mushroom, it moves with the Y-axis moving mechanism 105 and the X-axis moving mechanism 104 so that the picked mushroom first passes through the third soft brush retaining edge 111 (reference Figure 6 ), and then located in groove 10602 (i.e., located above second conveyor 11002); next, the root cutting device operates to cut the root of the mushroom, and the cut mushroom root falls onto second conveyor 11002 for further discharge; next, the Y-axis movement mechanism 105 operates to make the mushroom pass through the second soft brush rib 111 and then be located in groove 10601 (i.e., located above first conveyor 11001); next, the picking actuator 103 releases the mushroom, and the mushroom falls onto first conveyor 11001 for further discharge. As can be seen, throughout the entire process, the mushrooms pass through two soft brush ribs, and foreign matter such as dirt particles on the mushrooms are cleaned twice.

[0033] Another action process of the robot picking operation is: after the picking actuator 103 picks a mushroom, the Y-axis moving mechanism 105 and the X-axis moving mechanism 104 cooperate to make the picked mushroom pass through the first soft brush rib 111 (refer to Figure 6 ), then passes through the second soft-bristle brush rib 111, and is located in groove 10602 (i.e., above the second conveyor 11002); the root cutting device then actuates to cut the mushroom's roots, and the cut mushroom roots fall onto the second conveyor 11002 for further delivery; next, the Y-axis moving mechanism 105 operates to cause the mushroom to pass through the second soft-bristle brush rib 111 and be located in groove 10601 (i.e., above the first conveyor 11001); the picking actuator 103 then releases the mushroom, and the mushroom falls onto the first conveyor 11001 for further delivery. Thus, throughout this entire process, foreign matter on the mushrooms is cleaned by the soft-bristle brush three times.

[0034] It should be noted that, for the applicability of the soft brush rib 111, the specific structure of the conveying device is not limited to the conveyor belt form, and the specific structure of the conveying device can also be any other structure that can output mushrooms and mushroom roots.

[0035] like Figure 5 and Figure 8 As shown, a suction cup cleaning component is also provided in the base 101, and the suction cup cleaning component includes a suction cup cleaning tank 123, a brush plate 124, a cleaning motor 125, a water collecting tank 126, a water inlet pump 127 and a drainage pump 128, wherein the number of the suction cup cleaning tank 123, the brush plate 124, the cleaning motor 125, the water inlet pump 127 and the drainage pump 128 is the same as the number of the picking actuator 103. In this scheme, the automatic picking robot 100 basic structure in CN113940239B is adopted, and there are two groups of picking actuators 103, so the suction cup cleaning tank 123, the brush plate 124, the cleaning motor 125, the water inlet pump 127 and the drainage pump 128 are Two sets of drainage pumps 128 are selected and installed on both sides of the central axis of the base 101 respectively. The two sets share a water collecting tank 126. The suction cup cleaning tank 123 is provided with a water inlet and a water outlet. The brush plate 124 is located in the suction cup cleaning tank 123. The brush plate 124 is connected to the output end of the cleaning motor 125 fixed to the bottom of the suction cup cleaning tank 123 via a rotating shaft. A number of bristles 133 are evenly distributed on the surface of the brush plate 124. The water collecting tank 126 is connected to the water inlet pump 127 and the water inlet of the suction cup cleaning tank 123 in sequence through a water supply pipeline, and is connected to the drainage pump 128 and the water outlet of the suction cup cleaning tank 123 in sequence through a return water pipeline to form a water flow loop. After the picking actuator 103 has been performing its picking task for a long time, foreign matter such as mushroom residue, fine particles of culture soil, and other foreign matter may adhere to the surface of the suction cup. To ensure a good subsequent suction effect, the Y-axis movement mechanism 105 and the X-axis movement mechanism 104 cooperate to drive the picking actuator 103 to move above the corresponding suction cup cleaning tank 123. The water inlet pump 127 supplies water to the suction cup cleaning tank, driving the picking actuator 103 to move the suction cup downward a distance, allowing the suction cup to be immersed in the water in the suction cup cleaning tank 123. At this time, the bristles of the brush plate 124 contact the surface of the suction cup. The cleaning motor 125 then operates to drive the brush plate 124 to rotate and clean the suction cup. After cleaning is completed, the picking actuator 103 activates, raising the suction cup, and the drain pump 128 drains water. After the cleaning process is completed, foreign matter adhering to the surface of the suction cup that affects its function is removed.

[0036] like Figure 7As shown, the material port opening assembly is provided at the material port 10603 of the automatic picking robot 100. The material port opening assembly includes a door frame 129, a door baffle plate 130, a door shaft 131 and a door shaft rotating motor 132. The door frame 129 is fixed to the outside of the material port 10603 of the base 101. The door shaft 131 is fixed to the lower end of the door baffle plate 130. Both ends of the door shaft 131 are rotatably connected to the door frame 129. The door shaft rotating motor 132 is fixed to the door frame 129. The output shaft of the door shaft rotating motor 132 is connected to one end of the door shaft 131 via a synchronous belt transmission mechanism. The door shaft 131 drives the door baffle plate 130 to rotate to a position covering the material port 10603. At this time, the door baffle plate 130 is generally located in a vertical direction. When the door shaft 131 drives the door baffle plate 130 to open, the door baffle plate 130 is located at a position with a certain slope, such as Figure 2 As shown, in this state, it is more conducive to transfer the mushrooms and mushroom roots output from the discharge port 10603 to the collection device.

[0037] In order to further improve the automation level of the intelligent picking system, and to uniformly store and maintain the automatic picking robot 100, and to improve the complex design of the prior art in which each multi-layer bed frame 300 needs to be equipped with an automatic layer-changing device, the activity space in the mushroom room is liberated, such as Figure 1 As shown, the system also includes a robot storage rack 301, a robot transfer rack 302, and a transfer forklift 500 for lifting the robot transfer rack 302. The robot storage rack 301 and the robot transfer rack 302 are provided with slideways that cooperate with the walking mechanism 102 of the automatic picking robot 100. The transfer forklift 500 travels back and forth between the robot storage rack 301 and the multi-layer bed frame 300 where mushroom picking is required. The automatic picking robot 100 completes the transfer mode from the robot storage rack 301 to the robot transfer rack 302 and then to the multi-layer bed frame 300. The transfer forklift 500 raises and lowers the forklift plate on the outside of the multi-layer bed frame 300 to complete the layer changing operation of the automatic picking robot 100 on each multi-layer bed frame 300.

[0038] The automatic picking robot 100 stays at a certain location for a period of time while the picking actuator 103 performs the picking operation. The picking actuator 103 of the automatic picking robot 100 moves the picked mushrooms to the top of the second mushroom conveyor 11002. The forward drive motor 113 drives the electric finger gripper 116 forward, which activates the scissor blades 117 to cut the mushroom roots. The picking actuator 103 then moves the mushrooms (caps) with the roots removed to the top of the first conveyor 11001. The suction cups of the picking actuator 103 then release the mushrooms. The first conveyor 11001 and second conveyor 11002 of the conveyor belt 110, respectively, deliver the mushrooms and mushroom roots to the discharge port 10603.

Claims

1. A mushroom automatic picking robot, comprising a base, a walking mechanism, a picking actuator, an X-axis moving mechanism, a Y-axis moving mechanism and a conveying device, wherein the conveying device is provided with a base plate and a conveyor belt, characterized in that: The automatic mushroom picking robot further comprises a soft brush rib, which is fixedly connected to a base plate of a conveying device and is located on a side of the conveyor belt.

2. The automatic mushroom picking robot according to claim 1, characterized in that: Two soft brush ribs are provided, and the two soft brush ribs are located on both sides of the conveyor belt.

3. The automatic mushroom picking robot according to claim 1, characterized in that: The conveyor belt is provided with a first conveying part and a second conveying part; three soft brush ribs are provided, the first soft brush rib is located outside the first conveying part, the second soft brush rib is located between the first conveying part and the second conveying part, and the third soft brush rib is located outside the second conveying part.

4. The automatic mushroom picking robot according to claim 3, characterized in that: The automatic mushroom picking robot also includes a root cutting device.

5. The automatic mushroom picking robot according to claim 4, characterized in that: The root cutting device includes a root cutting connecting seat, a forward driving motor, a driving gear, a driven rack, an electric finger clamp and two scissor blades. The root cutting connecting seat is connected to the Y-axis moving mechanism. A linear slide is fixed to the bottom of the root cutting connecting seat. The driven rack cooperates with the linear slide via a forward sliding block. The forward driving motor is fixedly connected to the root cutting connecting seat, the driving gear is connected to the output end of the forward driving motor, the driving gear is meshed with the driven rack, the electric finger clamp is fixedly connected to the driven rack, the two scissor blades are connected to the two clamps of the electric finger clamp, and the two scissor blades face the conveyor belt of the conveying device.

6. The automatic mushroom picking robot according to claim 1, characterized in that: The picking actuator is provided with a suction cup.

7. The automatic mushroom picking robot according to claim 6, characterized in that: The automatic mushroom picking robot also includes a suction cup cleaning component, which includes a suction cup cleaning trough, a brush plate, a cleaning motor, a water collecting tank, an inlet pump and a drain pump. The suction cup cleaning trough is provided with a water inlet and a water outlet. The brush plate is located in the suction cup cleaning trough. The cleaning motor is fixedly connected to the bottom of the suction cup cleaning trough. The brush plate is connected to the output shaft of the cleaning motor through a rotating shaft. A plurality of bristles are provided on the surface of the brush plate. The water collecting tank is connected to the water inlet pump and the water inlet of the suction cup cleaning trough in sequence through a water supply pipeline, and is connected to the drain pump and the water outlet of the suction cup cleaning trough in sequence through a return water pipeline to form a water flow loop.

8. The automatic mushroom picking robot according to claim 3, 4, 5 or 6, characterized in that: During the picking operation of the automatic mushroom picking robot, the mushrooms picked by the picking actuator first pass through the first soft brush rib, then pass through the second soft brush rib, and are located above the second conveying part; then the root cutting device is activated to remove the roots of the mushrooms, and the mushroom roots fall onto the second conveying part and are further discharged; then the Y-axis moving mechanism works to make the mushrooms pass through the second soft brush rib and are located above the first conveying part; then the picking actuator releases the mushrooms, and the mushrooms fall onto the first conveying part and are further discharged.

9. An automatic mushroom picking robot, comprising a base, a walking mechanism, a picking actuator, an X-axis moving mechanism, a Y-axis moving mechanism and a conveying device, characterized in that: The picking actuator is provided with a suction cup, and the automatic mushroom picking robot also includes a suction cup cleaning component, which includes a suction cup cleaning trough, a brush disc, a cleaning motor, a water collecting tank, a water inlet pump and a drainage pump. The suction cup cleaning trough is provided with a water inlet and a water outlet, the brush disc is located in the suction cup cleaning trough, the cleaning motor is fixedly connected to the bottom of the suction cup cleaning trough, the brush disc is connected to the output shaft of the cleaning motor through a rotating shaft, and a plurality of bristles are provided on the surface of the brush disc; the water collecting tank is connected to the water inlet pump and the water inlet of the suction cup cleaning trough in sequence through a water supply pipeline, and is connected to the drainage pump and the water outlet of the suction cup cleaning trough in sequence through a return water pipeline to form a water flow loop.

10. An automatic mushroom picking robot, comprising a base, a walking mechanism, a picking actuator, an X-axis moving mechanism, a Y-axis moving mechanism and a conveying device, characterized in that: The automatic mushroom picking robot further comprises a soft brush rib, which is located on the side of the conveying device.

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