Automatic harvesting equipment for agaricus bisporus

Abstract

The automatic agaricus bisporus harvesting equipment comprises a vehicle body, the vehicle body comprises a base, and the bottom of the base is connected with a walking mechanism; the picking mechanism comprises a rotating part, the first lifting mechanism is connected to the base, and the rotating part is in driving connection to the supporting plate; the supporting plate is connected with a picking linear sliding table module, the base is connected with a lifting air cylinder, the power output end of the lifting air cylinder is connected with a gripper, and the base is connected with a distance detection device and an object recognition device. The collecting mechanism comprises a collecting linear sliding table module, the collecting linear sliding table module is connected to the base, and a second lifting mechanism is connected to the collecting linear sliding table module; and the conveying device is connected to the collecting linear sliding table module, one end of the conveying device leads to the collecting box, and the rotating piece can move to the position above the conveying device through the gripper. Compared with the prior art, automatic equipment is used for replacing traditional manual harvesting, time and labor are greatly saved, the harvesting efficiency is greatly improved, and meanwhile the labor cost of an enterprise is reduced.

Description

Technical Field

[0001] This invention relates to the field of automatic harvesting equipment technology, and in particular to an automatic harvesting device for button mushrooms. Background Technology

[0002] Edible mushroom cultivation, as a low-investment, short-cycle, and quick-return project, has developed rapidly in my country. The edible mushroom industry is a rural economic development project that integrates economic, ecological, and social benefits. Developing the edible mushroom industry meets the needs of increasing consumer spending and sustainable agricultural development, and is an effective way for farmers to quickly become wealthy. my country's mushroom industry is developing rapidly; whether in domestic demand or exports, mushroom products are increasingly popular, leading to the growing strength of my country's mushroom cultivation industry.

[0003] However, my country's mushroom cultivation still lags behind developed countries, and its industrialization and commercialization are not yet fully developed. Compared with developed countries, my country's mushroom cultivation industry is mainly characterized by extensive management and low automation, such as in the harvesting of button mushrooms. In existing technologies, the drive wheels of a displacement platform move laterally and longitudinally along a track on the button mushroom cultivation rack, while workers sit on the platform to harvest manually. This traditional harvesting method relies on manual labor, resulting in low harvesting efficiency and increased labor costs for enterprises. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic harvesting device for button mushrooms, which replaces traditional manual harvesting with automated equipment, saving considerable time and labor, greatly improving harvesting efficiency, and reducing labor costs for enterprises, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: An automatic mushroom harvesting device includes a vehicle body, which includes a base with a walking mechanism connected to the bottom of the base; a harvesting mechanism including a rotating component connected to a first lifting mechanism, which is connected to the base, and the rotating component is driven by a support plate; a harvesting linear slide module is connected to the support plate, a base is connected to the harvesting linear slide module, a lifting cylinder is connected to the base, a gripper is connected to the power output end of the lifting cylinder, and a distance detection device and an object recognition device are connected to the base; a collection mechanism including a collection linear slide module connected to the base, and a second lifting mechanism is connected to the collection linear slide module; a conveying device connected to the collection linear slide module, one end of which leads to a collection box, and the rotating component can move the gripper to above the conveying device; and an electrical control cabinet connected to the base, containing a controller.

[0006] A further improvement of the present invention is that the walking mechanism includes two drive wheels and four omnidirectional wheels; the drive wheels are symmetrically connected to the middle position of the lower surface of the base, each drive wheel includes a wheel body, the wheel body is rotatably connected to a wheel frame, a first servo motor is driven and connected to the wheel body, and support rods and spring rods are respectively hinged to both ends of the wheel frame, with the top ends of the support rods and spring rods hinged to the bottom of the base; the omnidirectional wheels are connected to the four corners of the bottom of the vehicle body.

[0007] A further improvement of the present invention is that the first lifting mechanism is arranged vertically, and the first lifting mechanism includes a first electric cylinder, a first bracket connected to the base, and the first electric cylinder connected to the first bracket; the power output end of the first electric cylinder is connected to a three-stage synchronous belt slide module A, the first-stage synchronous belt slide module A is connected to the power output end of the first electric cylinder, and the first-stage synchronous belt slide module A is connected to the first bracket through a linear guide rail, the second-stage synchronous belt slide module A is connected to the slider of the first-stage synchronous belt slide module A and is connected to the first-stage synchronous belt slide module A through a linear guide rail, and the third-stage synchronous belt slide module A is connected to the slider of the second-stage synchronous belt slide module A and is connected to the second-stage synchronous belt slide module A through a linear guide rail.

[0008] A further improvement of the present invention is that a support is connected to the first lifting mechanism, the rotating component includes a second servo motor and a rotating base, the second servo motor is connected to the support, the upper and lower ends of the rotating base are rotatably connected to the support through a rotating shaft, the power output end of the second servo motor is driven to a rotating shaft of the rotating base, and a support plate is connected to the rotating base.

[0009] A further improvement of the present invention is that the picking linear slide module is a synchronous belt slide module, and the base is connected to the slider of the picking linear slide module; the gripper is a vacuum suction cup, the lifting cylinder is vertically connected to the base, the vacuum suction cup is connected to one end of the piston rod at the bottom of the lifting cylinder, and a cover is connected above the base; the picking linear slide module is arranged along the width direction of the base, or the second servo motor drives the picking linear slide module to be arranged along the length direction of the base.

[0010] A further improvement of the present invention is that the distance detection device consists of several infrared ranging sensors arranged in a rectangular array.

[0011] A further improvement of the present invention is that the object recognition device is an industrial camera.

[0012] A further improvement of the present invention is that the collecting linear slide module is an electric lead screw slide module, which is arranged along the width direction of the base; the second lifting mechanism is arranged vertically, and the second lifting mechanism includes a second electric cylinder. A second bracket is connected to the slider of the collecting linear slide module, and the second electric cylinder is connected to the second bracket; a three-stage synchronous belt slide module B is connected to the power output end of the second electric cylinder, the first-stage synchronous belt slide module B is connected to the power output end of the second electric cylinder, and the first-stage synchronous belt slide module B is connected to the second bracket through a linear guide rail; the second-stage synchronous belt slide module B is connected to the slider of the first-stage synchronous belt slide module B and is connected to the first-stage synchronous belt slide module B through a linear guide rail; the third-stage synchronous belt slide module B is connected to the slider of the second-stage synchronous belt slide module B and is connected to the second-stage synchronous belt slide module B through a linear guide rail.

[0013] A further improvement of the present invention is that the conveying device is a double-belt conveyor, a back plate is connected to the slider of the third-stage synchronous belt slide module B, and the double-belt conveyor is connected to the back plate; the collection box is connected to the back plate, a discharge channel is connected to one side of the collection box, and the discharge end of the double-belt conveyor is located above the discharge channel.

[0014] A further improvement of the present invention is that an operation panel and control buttons are installed on the electrical control cabinet, and a push handle is connected to one end of the base.

[0015] The beneficial effects of this invention are: The automatic mushroom harvesting equipment of the present invention replaces traditional manual harvesting with automated equipment, which saves a lot of time and labor, greatly improves harvesting efficiency, and reduces labor costs for enterprises.

[0016] The automatic mushroom harvesting equipment of the present invention can automatically transfer to the next row of planting racks after the mushrooms have been harvested by the vehicle itself, thereby further improving the harvesting efficiency.

[0017] The automatic mushroom harvesting equipment of the present invention accurately identifies the position of the mushrooms through a distance detection device and an object recognition device, and accurately grabs the mushrooms through a vacuum suction cup, thus avoiding the problem of damaging the mushroom caps during the harvesting process and causing a decline in the quality of the mushrooms.

[0018] The automatic mushroom harvesting device of the present invention has a picking mechanism that can rotate 90° to switch between harvesting and walking modes. During harvesting, the picking mechanism is set along the width of the base to facilitate the vacuum suction cup to extend into the planting rack. When switching to the next planting rack, the picking mechanism is set along the length of the base to avoid interference between the picking mechanism and the uprights of the planting rack. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 This is a schematic diagram of the overall structure of the present invention.

[0021] Figure 3 This is a schematic diagram of the overall structure of the harvesting mechanism of the present invention.

[0022] Figure 4 This is a schematic diagram of the overall structure of the harvesting mechanism of the present invention.

[0023] Figure 5 This is a partial structural diagram of the harvesting mechanism of the present invention.

[0024] Figure 6 This is a partial structural diagram of the harvesting mechanism of the present invention.

[0025] Figure 7 This is a schematic diagram of the overall structure of the collection mechanism of the present invention.

[0026] Figure 8 This is a schematic diagram of the overall structure of the collection mechanism of the present invention.

[0027] Figure 9 This is a schematic diagram of the drive wheel of the present invention.

[0028] In the diagram: 1-Vehicle body, 101-Base, 102-Universal wheel, 103-Wheel body, 104-Wheel frame, 105-First servo motor, 106-Support rod, 107-Spring rod, 108-Push handle, 2-Harvesting mechanism, 201-Support plate, 202-Harvesting linear slide module, 203-Base, 204-Lifting cylinder, 205-First electric cylinder, 206-First bracket, 207-Three-stage synchronous belt slide module A, 208-Support, 209-Second servo motor 210-Rotating seat, 211-Vacuum suction cup, 212-Cover, 213-Infrared ranging sensor, 214-Industrial camera, 3-Collection mechanism, 301-Collection linear slide module, 302-Collection box, 303-Second electric cylinder, 304-Second bracket, 305-Three-stage synchronous belt slide module B, 306-External double belt conveyor, 307-Back plate, 308-Discharge channel, 4-Electrical control cabinet, 401-Operating panel, 402-Control button, 5-Button mushroom. Detailed Implementation

[0029] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0030] Example 1: As Figures 1-9As shown, an automatic mushroom harvesting device includes a vehicle body 1, which includes a base 101. A walking mechanism is connected to the bottom of the base 101. A harvesting mechanism 2 includes a rotating component connected to a first lifting mechanism, which is connected to the base 101. The rotating component is driven and connected to a support plate 201. A harvesting linear slide module 202 is connected to the support plate 201. A base 203 is connected to the harvesting linear slide module 202. A lifting cylinder 204 is connected to the base 203. The lifting cylinder 204... The force output end is connected to a gripper, and the base 203 is connected to a distance detection device and an object recognition device; the collection mechanism 3 includes a collection linear slide 301, which is connected to the base 101, and a second lifting mechanism is connected to the collection linear slide 301; a conveying device is connected to the collection linear slide 301, one end of which leads to the collection box 302, and the rotating part can move the gripper to the top of the conveying device; the electrical control cabinet 4 is connected to the base 101, and a controller is installed inside the electrical control cabinet 4.

[0031] The walking mechanism includes two drive wheels and four casters 102; the drive wheels are symmetrically connected to the middle position of the lower surface of the base 101, and each drive wheel includes a wheel body 103, which is rotatably connected to a wheel frame 104. A first servo motor 105 is driven and connected to the wheel body 103. Support rods 106 and spring rods 107 are respectively hinged to both ends of the wheel frame 104, and the top ends of the support rods 106 and spring rods 107 are hinged to the bottom of the base 101; the casters 102 are connected to the four corners of the bottom of the vehicle body 1.

[0032] The first lifting mechanism is vertically arranged and includes a first electric cylinder 205. A first bracket 206 is connected to the base 101, and the first electric cylinder 205 is connected to the first bracket 206. The power output end of the first electric cylinder 205 is connected to a three-stage synchronous belt slide module A207. The first-stage synchronous belt slide module A is connected to the power output end of the first electric cylinder 205 and is connected to the first bracket 206 through a linear guide rail. The second-stage synchronous belt slide module A is connected to the slider of the first-stage synchronous belt slide module A and is connected to the first-stage synchronous belt slide module A through a linear guide rail. The third-stage synchronous belt slide module A is connected to the slider of the second-stage synchronous belt slide module A and is connected to the second-stage synchronous belt slide module A through a linear guide rail.

[0033] The first lifting mechanism is connected to a support 208. The rotating component includes a second servo motor 209 and a rotating base 210. The second servo motor 209 is connected to the support 208. The upper and lower ends of the rotating base 210 are rotatably connected to the support 208 via rotating shafts. The power output end of the second servo motor 209 is driven to a rotating shaft of the rotating base 210. The support plate 201 is connected to the rotating base 210.

[0034] The picking linear slide module 202 is a synchronous belt slide module, and the base 203 is connected to the slider of the picking linear slide module 202; the gripper is a vacuum suction cup 211, the lifting cylinder 204 is vertically connected to the base 203, the vacuum suction cup 211 is connected to one end of the piston rod at the bottom of the lifting cylinder 204, and a cover 212 is connected above the base 203; the picking linear slide module 202 is set along the width direction of the base 101, or the second servo motor 209 drives the picking linear slide module 202 to be set along the length direction of the base 101.

[0035] The distance detection device consists of several infrared range sensors 213 arranged in a rectangular array; the object recognition device is an industrial camera 214.

[0036] The collecting linear slide module 301 is an electric lead screw slide module, which is set along the width direction of the base 101. The second lifting mechanism is set vertically and includes a second electric cylinder 303. A second bracket 304 is connected to the slider of the collecting linear slide module 301, and the second electric cylinder 303 is connected to the second bracket 304. The power output end of the second electric cylinder 303 is connected to a three-stage synchronous belt slide module B305. The first-stage synchronous belt slide module B is connected to the power output end of the second electric cylinder 303 and is connected to the second bracket 304 through a linear guide rail. The second-stage synchronous belt slide module B is connected to the slider of the first-stage synchronous belt slide module B and is connected to the first-stage synchronous belt slide module B through a linear guide rail. The third-stage synchronous belt slide module B is connected to the slider of the second-stage synchronous belt slide module B and is connected to the second-stage synchronous belt slide module B through a linear guide rail.

[0037] The conveying device is a double-belt conveyor 306. A back plate 307 is connected to the slider of the third-stage synchronous belt slide module B. The double-belt conveyor 306 is connected to the back plate 307. The collection box 302 is connected to the back plate 307. A discharge channel 308 is connected to one side of the collection box 302. The discharge end of the double-belt conveyor 306 is located above the discharge channel 308.

[0038] The electrical control cabinet 4 is equipped with an operation panel 401 and control buttons 402, and a push handle 108 is connected to one end of the base 101.

[0039] The specific working principle of this invention is as follows: This invention is used in conjunction with a planting rack for button mushrooms 5. The planting rack is arranged in multiple rows, with multiple racks in each row, and each rack has a multi-layer structure.

[0040] The electrical control cabinet 4 is also equipped with a 48V charging power supply. The 48V charging power supply is safely reduced to the 24V required by the PLC controller through a DC-DC step-down module. The actuators of the picking mechanism 2 and the collecting mechanism 3 are electrically connected to the PLC controller.

[0041] During operation, the two drive wheels work according to the program input by the PLC controller, and by controlling the speed of the first servo motors 105 on the left and right sides, the equipment moves in a straight line along the X-axis direction along one side of the mushroom cultivation rack 5.

[0042] When the harvesting mechanism 2 reaches the appropriate position, ensuring that its rotation does not interfere with the uprights of the planting rack, the second servo motor 209 drives the harvesting linear slide module 202 to rotate 90°, causing it to extend above the shelf of the planting rack in the Y-coordinate direction. The infrared ranging sensor 213 and the industrial camera 214 work to feed the distance and image data back to the PLC controller. The PLC controller corrects and calculates the difference in the acquired data and removes invalid signals before sending commands to the solenoid valves of the harvesting linear slide module 202, the lifting cylinder 204, and the vacuum suction cup 211. The vacuum suction cup 211 picks up the caps of the button mushrooms 5 and places them on the dual-belt conveyor 306. The caps of the button mushrooms 5 land precisely on the two PVC conveyor belts of the dual-belt conveyor 306. The dual-belt conveyor 306 drives the button mushrooms 5 to move and fall from the discharge channel 308 into the collection box 302.

[0043] With the drive wheels in operation, the vehicle body 1 moves along the X-axis in a straight line, and the picking mechanism 2 continues to pick until all the button mushrooms 5 of the appropriate size on a shelf are picked.

[0044] The second servo motor 209 drives the harvesting linear slide module 202 to rotate 90°, so that the harvesting linear slide module 202 faces the X coordinate direction; at this time, the first lifting mechanism and the second lifting mechanism work, and the harvesting mechanism 2 and the collecting mechanism 3 move upward to the second layer of the planting rack in the Z coordinate direction; the second servo motor 209 drives the harvesting linear slide module 202 to rotate 90°, so that the harvesting linear slide module 202 faces the Y coordinate direction, and repeats the above actions to continue to complete the harvesting work until all multiple layers of a planting rack are harvested.

[0045] Once all the mushrooms on a planting rack have been harvested, the vehicle 1 moves to the side of the adjacent planting rack and repeats the above actions to complete the harvesting of the button mushrooms 5 on the planting rack.

[0046] Once all the crops in a row of planting racks have been harvested, vehicle 1 travels in a straight line along the X-axis. When it reaches one end of the planting rack, it uses the differential speed of the two drive wheels to turn around and continue harvesting the next row of planting racks.

[0047] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent transformations or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An automatic harvesting device for button mushrooms, characterized in that, include: The vehicle body (1) includes a base (101), and a walking mechanism is connected to the bottom of the base (101); The picking mechanism (2) includes a rotating component connected to a first lifting mechanism, which is connected to a base (101). The rotating component is driven and connected to a support plate (201). A picking linear slide module (202) is connected to the support plate (201). A base (203) is connected to the picking linear slide module (202). A lifting cylinder (204) is connected to the base (203). A gripper is connected to the power output end of the lifting cylinder (204). A distance detection device and an object recognition device are connected to the base (203). The collection mechanism (3) includes a collection linear slide module (301), which is connected to the base (101) and a second lifting mechanism is connected to the collection linear slide module (301); a conveying device is connected to the collection linear slide module (301), one end of the conveying device is connected to the collection box (302), and the rotating part can move the gripper to the top of the conveying device; The electrical control cabinet (4) is connected to the base (101), and a controller is installed inside the electrical control cabinet (4).

2. The automatic mushroom harvesting equipment as described in claim 1, characterized in that: The walking mechanism includes two drive wheels and four omnidirectional wheels (102); the drive wheels are symmetrically connected to the middle position of the lower surface of the base (101), and the drive wheels include wheel bodies (103), which are rotatably connected to wheel frames (104). A first servo motor (105) is driven and connected to the wheel body (103). Support rods (106) and spring rods (107) are respectively hinged at both ends of the wheel frame (104). The top ends of the support rods (106) and spring rods (107) are hinged to the bottom of the base (101); the omnidirectional wheels (102) are connected to the four corners of the bottom of the vehicle body (1).

3. The automatic harvesting equipment for button mushrooms as described in claim 1, characterized in that: The first lifting mechanism is vertically arranged and includes a first electric cylinder (205). A first bracket (206) is connected to the base (101). The first electric cylinder (205) is connected to the first bracket (206). The power output end of the first electric cylinder (205) is connected to a three-stage synchronous belt slide module A (207). The first-stage synchronous belt slide module A is connected to the power output end of the first electric cylinder (205). The first-stage synchronous belt slide module A is connected to the first bracket (206) through a linear guide rail. The second-stage synchronous belt slide module A is connected to the slider of the first-stage synchronous belt slide module A and is connected to the first-stage synchronous belt slide module A through a linear guide rail. The third-stage synchronous belt slide module A is connected to the slider of the second-stage synchronous belt slide module A and is connected to the second-stage synchronous belt slide module A through a linear guide rail.

4. The automatic mushroom harvesting equipment as described in claim 1 or 3, characterized in that: The first lifting mechanism is connected to a support (208). The rotating component includes a second servo motor (209) and a rotating seat (210). The second servo motor (209) is connected to the support (208). The upper and lower ends of the rotating seat (210) are rotatably connected to the support (208) through a rotating shaft. The power output end of the second servo motor (209) is driven to a rotating shaft of the rotating seat (210). The support plate (201) is connected to the rotating seat (210).

5. The automatic harvesting equipment for button mushrooms as described in claim 4, characterized in that: The picking linear slide module (202) is a synchronous belt slide module, and the base (203) is connected to the slider of the picking linear slide module (202); the gripper is a vacuum suction cup (211), the lifting cylinder (204) is vertically connected to the base (203), the vacuum suction cup (211) is connected to one end of the piston rod at the bottom of the lifting cylinder (204), and a cover (212) is connected above the base (203); the picking linear slide module (202) is set along the width direction of the base (101), or the second servo motor (209) drives the picking linear slide module (202) to be set along the length direction of the base (101).

6. The automatic harvesting equipment for button mushrooms as described in claim 1, characterized in that: The distance detection device consists of several infrared ranging sensors (213) arranged in a rectangular array.

7. The automatic mushroom harvesting equipment as described in claim 1, characterized in that: The object recognition device is an industrial camera (214).

8. The automatic harvesting equipment for button mushrooms as described in claim 1, characterized in that: The collecting linear slide module (301) is an electric screw slide module, and the collecting linear slide module (301) is arranged along the width direction of the base (101); the second lifting mechanism is arranged vertically, and the second lifting mechanism includes a second electric cylinder (303). A second bracket (304) is connected to the slider of the collecting linear slide module (301), and the second electric cylinder (303) is connected to the second bracket (304); the power output end of the second electric cylinder (303) is connected to a three-stage synchronous belt slide module B. (305) The first-stage synchronous belt slide module B is connected to the power output end of the second electric cylinder (303), and the first-stage synchronous belt slide module B is connected to the second bracket (304) through a linear guide rail. The second-stage synchronous belt slide module B is connected to the slider of the first-stage synchronous belt slide module B and is connected to the first-stage synchronous belt slide module B through a linear guide rail. The third-stage synchronous belt slide module B is connected to the slider of the second-stage synchronous belt slide module B and is connected to the second-stage synchronous belt slide module B through a linear guide rail.

9. The automatic harvesting equipment for button mushrooms as described in claim 8, characterized in that: The conveying device is a double-belt conveyor (306). A back plate (307) is connected to the slider of the third-stage synchronous belt slide module B. The double-belt conveyor (306) is connected to the back plate (307). The collection box (302) is connected to the back plate (307). A discharge channel (308) is connected to one side of the collection box (302). The discharge end of the double-belt conveyor (306) is located above the discharge channel (308).

10. The automatic harvesting equipment for button mushrooms as described in claim 1, characterized in that: The electrical control cabinet (4) is equipped with an operation panel (401) and control buttons (402), and a push handle (108) is connected to one end of the base (101).

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