An agricultural product collection device

Abstract

The application provides an agricultural product collecting device, which comprises a root cutting module, an adjustable collecting module and a driving module, wherein the root cutting module comprises an energy storage mechanism and a cutting execution unit, the energy storage mechanism is configured to maintain the cutting execution unit in a standby position in a constraint state and drive the cutting execution unit to complete a cutting action at a high speed when the constraint is released, the adjustable collecting module is configured to receive the agricultural products processed by the root cutting module, the driving module is connected to the adjustable collecting module and is configured to drive the adjustable collecting module to move back and forth along a preset path, and the main body module is used for integrating and supporting the root cutting module, the adjustable collecting module and the driving module and comprises a walking mechanism capable of driving the whole agricultural product collecting device to move. Through the optimized structural design, the device realizes efficient and accurate root cutting and collecting functions and significantly improves the efficiency and quality of agricultural product collecting.

Description

Technical Field

[0001] This invention relates to the field of agricultural product equipment, and in particular to an agricultural product collection device. Background Technology

[0002] With global population growth and shrinking arable land, vertical farming has rapidly developed as a new agricultural production model. Through tiered, three-dimensional planting, it achieves year-round, high-density crop production within a limited space, with yields per unit area reaching 10-15 times that of traditional farmland. Edible fungi (such as button mushrooms) have become a core category in vertical farming due to their shade-loving characteristics and high economic value, widely employing multi-layer cultivation racks (typically 4-8 layers, layer height ≤60cm) for factory-style cultivation. Traditional manual harvesting methods are inefficient, labor-intensive, and costly, making them unsuitable for modern factory production. In recent years, agricultural robotics has made some progress in automated harvesting; however, existing systems still have room for improvement in structural design, operational flexibility, and environmental adaptability. Existing agricultural product collection devices often employ a side-discharge design, placing the collection mechanism on one side of the harvesting equipment and using robotic arms or conveyor belts to laterally transfer the harvested agricultural products to an adjustable collection module or vehicle. This design works in spacious single-layer planting environments, but its limitations are significant in multi-layered mushroom racks or narrow mushroom houses. Side-discharge devices require significant lateral movement space, making the harvesting system cumbersome to move between mushroom racks, prone to collisions with racks or other equipment, affecting efficiency and potentially damaging the racks. In multi-layered rack applications, frequent adjustments to the equipment's orientation to accommodate different heights increase operational complexity and time costs, hindering smooth, continuous harvesting. Furthermore, these devices are bulky, occupying limited space, obstructing worker movement, and facilitating mushroom house management and maintenance. Meanwhile, existing harvesting robots generally suffer from large size, inflexible operation, and low harvesting efficiency, failing to meet the demands of large-scale production. Post-harvest mushroom root trimming often relies on manual labor, increasing costs and impacting overall efficiency. Manual operation is required when switching between different layers, further increasing labor intensity and time costs. Moreover, existing robots cannot automatically separate mushrooms from their roots, resulting in low collection efficiency and easy contamination of the mushrooms.

[0003] In response to the shortcomings of existing technologies, the demand for novel harvesting devices is increasingly urgent. This technology needs to address the problems of large size, inflexible operation, low harvesting efficiency, high cost, and the inability to automatically separate mushrooms from their roots. Specifically, a harvesting system is needed that can adapt to confined spaces, automatically cut roots, separate mushrooms from their roots, and automatically collect and transport them. Furthermore, this system should also feature multi-layer harvesting capabilities and high adaptability to different growing environments, enabling automation and intelligent operation of the entire harvesting process to meet the needs of modern factory production. Summary of the Invention

[0004] The purpose of this invention is to provide a novel agricultural product collection device, aiming to solve the problems of complex operation, poor spatial adaptability, and low efficiency existing in the prior art. The agricultural product collection device provided by this patent is specifically designed for factories with limited space, adapting to the limited space between cultivation racks, effectively solving the problems of excessive usable space and inconvenient operation in existing technologies. Its simple structure facilitates daily maintenance, greatly reducing maintenance costs and operational difficulty. The device also enables efficient root-cutting and collection of agricultural products such as button mushrooms, ensuring stable and accurate root-cutting and collection operations even in confined spaces. The follow-along design allows the agricultural product collection device to closely follow the harvesting robot, reducing space occupation and avoiding interference with workers' normal activities. Furthermore, this device provides a new and efficient solution for the field of agricultural product collection, with significant economic benefits and application value.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] An agricultural product collection device includes: an adjustable collection module having a cavity structure and configured to receive processed agricultural products; a drive module connected to the adjustable collection module and configured to drive the adjustable collection module to reciprocate along a preset path; and a main body module for integrating and supporting the adjustable collection module and the drive module, and including a walking mechanism capable of driving the entire agricultural product collection device to move.

[0007] Furthermore, the drive module includes: a power unit.

[0008] Furthermore, it also includes a power transmission unit that can convert the input of the power unit into linear displacement to drive the adjustable collection module to reciprocate.

[0009] Furthermore, it also includes a guide unit to constrain the movement trajectory of the adjustable collection module.

[0010] Furthermore, the power transmission unit includes a first transmission subsystem and a second transmission subsystem that are symmetrically distributed and operate synchronously.

[0011] Furthermore, the first transmission subsystem includes a first torque transmission component and a first linear conversion component.

[0012] Furthermore, the second transmission element includes a second torque transmission component and a second linear conversion component.

[0013] Furthermore, the first torque transmission component and / or the second torque transmission component are capable of transmitting the torque output by the power unit, and the first linear conversion component and the second linear conversion component convert rotational motion into linear displacement.

[0014] Furthermore, the first torque transmission component and the second torque transmission component are either a belt-pull assembly or a sprocket assembly.

[0015] Furthermore, the first linear conversion component and the second linear conversion component are any one of a gear-rack pair, a lead screw-nut pair, or a worm-rack pair.

[0016] Furthermore, the power unit drives the first transmission subsystem, and the first transmission subsystem and the second transmission subsystem are connected by a synchronization component.

[0017] Furthermore, the adjustable collection module includes: a base plate assembly having a movable base plate and a support base.

[0018] Furthermore, the support base is located below the movable base plate.

[0019] Furthermore, when the movable base plate is in the collection position, it is supported by the support base to form a horizontal bearing surface, and when it is in the unloading position, it detaches from the support and drops the material.

[0020] Furthermore, the enclosure assembly is set perpendicular to the base plate assembly to form a cavity structure for accommodating agricultural products together with the base plate assembly.

[0021] Furthermore, the movable base plate is rotatably connected to the enclosure assembly via a linkage mechanism, with one end being the connecting end and the other end being the free end.

[0022] Furthermore, when the adjustable collection module is driven to move along the first direction, the movable base plate moves synchronously with the support base, and the movable base plate maintains a horizontal bearing surface.

[0023] Furthermore, when the adjustable collection module is driven to move along the second direction, which is opposite to the first direction, the movable base plate is displaced relative to the support base and gradually extends until its free end moves out of the support range of the support base and then flips downward to realize material dropping.

[0024] Furthermore, at least a portion of the upper part of the enclosure component facing the external harvesting robot is lower than the rest of the enclosure, and the lower upper part is continuously or segmented as a flexible enclosure along the length direction.

[0025] Furthermore, the flexible fencing is configured as follows:

[0026] When the robotic arm of the harvesting robot delivers agricultural products to the cavity structure, the flexible barrier deforms to allow the robotic arm and agricultural products to move into the cavity structure, forming the entrance to the cavity structure.

[0027] Furthermore, after the robotic arm of the harvesting robot completes the delivery of the agricultural product, the flexible enclosure deforms to allow the robotic arm to move out of the cavity structure.

[0028] Furthermore, after the robotic arm completes its entry or exit, the flexible barrier automatically springs back to its original position, forming a continuous flexible guardrail that can prevent agricultural products from falling out of the cavity structure.

[0029] Furthermore, the adjustable collection module is also equipped with a material leveling component, which includes a lever and a drive subunit. The drive subunit drives the lever mechanism to perform reciprocating motion.

[0030] Furthermore, the agricultural product collection device also includes a root-cutting module.

[0031] Furthermore, the root cutting module includes an energy storage mechanism and a cutting execution unit.

[0032] Furthermore, the energy storage mechanism is configured to: maintain the cutting execution unit in a standby position under constrained conditions, and drive the cutting execution unit to complete the cutting action at high speed when the constraint is released.

[0033] Furthermore, the root cutting module also includes a power source and a transmission assembly, which is configured to switch between a first state and a second state in response to the power input from the power source.

[0034] Furthermore, in the first state, the transmission component establishes a constraint state.

[0035] Furthermore, in the second state, the transmission component is released from constraint.

[0036] Furthermore, the establishment or release of the constraint state is triggered by the engagement or disengagement of the transmission components.

[0037] Furthermore, the cavity structure is divided into independent material collection areas and waste collection areas, separated by partitions.

[0038] Furthermore, the waste collection area is located on the output side of the root cutting module.

[0039] Furthermore, at least a portion of the upper part of the separator is configured to be lower than the height of the rest, and flexible partitions are provided continuously or segmentally along the length direction at the lower upper edge.

[0040] Furthermore, the flexible partition is configured as follows:

[0041] The flexible partition deforms to allow robotic arms and agricultural products to move into the material collection area.

[0042] Furthermore, after the robotic arm of the harvesting robot completes the delivery of agricultural products, the flexible partition deforms to allow the robotic arm to move out of the material collection area.

[0043] Furthermore, after the robotic arm of the harvesting robot completes its entry or exit, the flexible partition automatically springs back to its original position.

[0044] Furthermore, after agricultural products fall into the material collection area and / or waste collection area, the flexible separation can prevent the agricultural products from moving and mixing between the material collection area and / or waste collection area.

[0045] Furthermore, the flexible fencing consists of vertical flexible brushes.

[0046] Furthermore, the flexible partition is divided into vertical flexible brushes.

[0047] Furthermore, the flexible brush uses nylon material.

[0048] Preferably, the blade is made of high-strength stainless steel or ceramic, possessing a sharp cutting edge and excellent durability, enabling efficient cutting. The blade retainer is made of high-strength aluminum alloy, featuring lightweight and high rigidity, ensuring the blade remains stable during cutting. The blade and blade retainer are connected by bolts, ensuring reliable and stable connection while facilitating blade disassembly and replacement.

[0049] Preferably, the energy storage spring is made of high-strength alloy spring steel, which has excellent elasticity and fatigue resistance, and can stably provide the required preload for a long time, meeting the need for rapid energy release during cutting. The preload of the energy storage spring can be adjusted by adjusting the bolt or the spring's elastic modulus to adapt to different cutting resistances and ensure smooth cutting.

[0050] Preferably, the base plate assembly adopts a multi-layer composite material structure, and the surface layer in contact with the mushrooms can be made of flexible material, which has excellent cushioning performance and shock absorption effect, effectively protecting the harvested mushrooms and preventing them from being damaged by collision and squeezing during collection and transportation.

[0051] The base plate assembly and the main body of the enclosure assembly are made of rigid materials. These rigid materials form the main structure of the enclosure assembly, providing sufficient support to ensure its stability and durability. The rigid materials can be metals or high-strength plastics, which possess good mechanical properties and durability. After agricultural products fall into the material collection area and waste collection area, the rigid materials help maintain their shape, preventing them from falling off. This ensures the stability and reliability of the base plate assembly and the enclosure assembly.

[0052] Preferably, the main module is made of high-strength steel, possessing excellent stability and load-bearing capacity, capable of supporting the weight of the entire device and the agricultural products it collects. The displacement sensor employs a high-precision laser displacement sensor, enabling real-time detection of the distance to the harvesting robot and achieving precise follow-along movement. The displacement sensor has a measurement accuracy of ±0.05 cm and a response frequency of 100 Hz, allowing for rapid response to changes in the harvesting robot's movement and ensuring the following performance of the collection device.

[0053] The adjustable collection module's base plate assembly and enclosure assembly form a cavity structure capable of accommodating crops.

[0054] For agricultural product collection devices without a root-cutting module, the cavity structure is used to receive and contain unprocessed, whole agricultural products. For agricultural product collection devices with a root-cutting module, the cavity structure is divided into a material collection area and a waste collection area, separated by a partition. The waste collection area is located on the output side of the root-cutting module and is used to receive the cut-off waste roots; while the material collection area is adjacent to the waste collection area and is used to receive processed agricultural products. The division of the material collection area and the waste collection area allows for the separate collection of finished agricultural products and waste, avoiding the subsequent separation difficulties caused by mixed collection. Taking mushrooms as an example, the collected mushrooms with cut roots can be directly packaged and sold as finished products, while the waste root processing process is greatly simplified, further improving the overall automation level of the operation.

[0055] This invention provides an agricultural product collection device, which offers several advantages over existing technologies. The invention aims to provide a novel agricultural product collection device that effectively solves problems such as complex operation, poor adaptability to confined spaces, and low efficiency in existing technologies. Through an innovative layout design of "following-root cutting collection-unloading" along a common track, the three main actions of root cutting, receiving, and unloading are completed along the same track in the direction of the harvesting robot's movement. This completely eliminates reliance on lateral channels and is specifically designed for confined spaces, offering strong spatial adaptability. It can easily adapt to limited spaces where the spacing between mushroom cultivation racks is too narrow or even nonexistent. The following design allows the collection device to closely follow the harvesting robot, reducing space occupation and avoiding interference with workers' normal activities, thus eliminating the need to encroach on workers' passage or maintenance space. The longitudinally arranged root cutting module utilizes an energy storage mechanism to achieve efficient and precise root cutting, producing clean, debris-free cuts, solving the problems of cutting marks and chipping associated with traditional rotating blades. Furthermore, this device is easy to operate and maintain, reducing the professional requirements and labor intensity for operators. The flexible enclosures and / or partitions allow the robotic arm to pass directly through them for operation, eliminating the need for clearance height. This converts the limited shelf height into cavity depth. After agricultural products fall in, the flexible enclosures and / or partitions automatically spring back to prevent them from falling. The effective cavity volume is significantly increased compared to purely rigid enclosures. The collection device tracks the harvesting robot's movement in real time, and the efficient power transmission of the drive module reduces manual intervention and improves the overall automation level. The partitions divide the cavity into material collection and waste collection areas, achieving automatic mushroom-root separation and eliminating manual sorting. The entire collection device tracks the harvesting robot in real time, with efficient transmission, simple maintenance, and a significantly improved overall automation level and space utilization. Attached Figure Description

[0056] The above-described technical content of the present invention and the following detailed embodiments will be better understood when read in conjunction with the accompanying drawings. It should be noted that the drawings are merely examples of the claimed technical solutions. In the drawings, the same reference numerals represent the same or similar elements.

[0057] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings: Figure 1 -Schematic diagram of agricultural product collection device;

[0058] Figure 2 - Schematic diagram of the standby position of the root cutting module;

[0059] Figure 3 - Schematic diagram of the cutting position of the root cutting module

[0060] Figure 4 - Schematic diagram of the assembly structure of the adjustable collection module and drive module;

[0061] Figure 5 -Schematic diagram of the adjustable collection module;

[0062] Figure 6 -Schematic diagram of the leveling mechanism in the material collection area;

[0063] Figure 7 - Schematic diagram of the adjustable collection module moving in the first direction;

[0064] Figures 8-7 Schematic diagram of the base plate assembly status;

[0065] Figure 9 - Schematic diagram of the adjustable collection module moving in the second direction;

[0066] Figure 10 - Schematic diagram of the unloading status of the adjustable collection module;

[0067] Figures 11-10 A schematic diagram of the base plate assembly status.

[0068] Figure 12 - Schematic diagram of agricultural product collection device application. The annotations in the attached diagram are explained below:

[0069] 1. Root Cutting Module

[0070] 2. Driver Module

[0071] 3 Adjustable collection module

[0072] 4. Material leveling components

[0073] 5 Main Modules

[0074] 101 blades

[0075] 102 Blade retaining sleeve

[0076] 103 First transmission component

[0077] 104 Second transmission component

[0078] 105 substrate

[0079] 106 Root Cutting Motor

[0080] 107 Energy Storage Spring

[0081] 108 Root Cutting Groove

[0082] 109 Magnetic Sensor

[0083] 201 servo motors

[0084] 202 First synchronous belt pulley

[0085] 203 First Synchronous Belt

[0086] 204 Second Synchronous Belt Pulley

[0087] 205 Transfer Bearing Kit

[0088] 206 Second Synchronous Belt

[0089] 207 First tensioning pulley

[0090] 208 Third Synchronous Belt Pulley

[0091] 209 First Gear

[0092] 210 First rack

[0093] 211 Second Gear

[0094] 212 Fourth Synchronous Belt Pulley

[0095] 213 Synchronization Component

[0096] 214 Fifth Synchronous Belt Pulley

[0097] 215 Third Synchronous Belt

[0098] 216 Second tensioning pulley

[0099] 217 Third Gear

[0100] 218 Sixth Synchronous Belt Pulley

[0101] 219 Second rack

[0102] 220 Fourth Gear

[0103] 221 First slide rail

[0104] 222 Second slide rail

[0105] 301 First stop

[0106] 302 Second stop

[0107] 303 First Skateboard Axle

[0108] 304 Second Skateboard Axle

[0109] 305 movable base plate

[0110] 306 support base

[0111] 307 Waste Collection Area

[0112] 308 Flexible Fence

[0113] 309 Flexible Separation

[0114] 310 Second Energy Storage Spring

[0115] 311 Main Body Fixed Base

[0116] 312 Material Collection Area

[0117] 313 First Enclosure

[0118] 314 Second Enclosure

[0119] 315 Third Enclosure

[0120] 316 Fourth Enclosure

[0121] 317 Fifth Enclosure

[0122] 318 partition

[0123] 401 First Transfer Bearing Sleeve

[0124] 402 Second Transfer Bearing Sleeve

[0125] 403 Second Push Rod

[0126] 404 First Push Rod

[0127] 405 Ninth Synchronous Belt Pulley

[0128] 406 Fifth Synchronous Belt

[0129] 407 Tenth Synchronous Belt Pulley

[0130] 408 Eleventh Synchronous Belt Pulley

[0131] 409 Miniature Gear Motor Detailed Implementation

[0132] The following detailed description of the features and advantages of the present invention is sufficient to enable any person skilled in the art to understand the technical content of the present invention and implement it accordingly. Furthermore, based on the specification, claims and drawings disclosed herein, those skilled in the art can easily understand the related objects and advantages of the present invention.

[0133] It should be noted that in this specification, similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0134] In the description of this embodiment, it should be noted that the terms "upper" and "lower" indicate the orientation or positional relationship defined by the coordinate reference of the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0135] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0136] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0137] Agricultural product collection device structure

[0138] See Figure 1 This is a schematic diagram of the agricultural product collection device. Specifically, the device comprises four main modules: a root-cutting module 1, a drive module 2, an adjustable collection module 3, and a main body module 5. The main body module forms the framework of the entire device, supporting and integrating the root-cutting module, the adjustable collection module, and the drive module. It also includes a walking mechanism on its side, enabling the agricultural product collection device to move along the same track as the harvesting robot.

[0139] See Figure 2 The specific structure of the root cutting module is shown. In this embodiment, the root cutting module is integrated at the end of the waste collection area. The root cutting module adopts a dual-gear cooperative kinetic energy accumulation and release mechanism, and its specific structure is as follows: at least a portion of the blade 101 is fitted into the blade fixing sleeve 102 to form a rigid connection, and the two constitute a cutting execution unit. The cutting execution unit is fixed on the first transmission member 103, and the first transmission member 103 and the second transmission member 104 can mesh with each other, and the two constitute a transmission assembly. Furthermore, the first transmission member 103 and the second transmission member 104 can be rotatably mounted on the base plate 105, and the root cutting motor 106 is fixed on the base plate 105 from the other side. A magnetic sensor 109 is fixed to the top of the base plate 105 for detecting the state of the blade 101.

[0140] Specifically, in this embodiment, the root-cutting motor 106 is fixed to the base plate 105 using flange bolts. The output shaft of the root-cutting motor 106 is rigidly connected to the second transmission component 104, and the root-cutting motor 106 directly drives the second transmission component 104. One end of the energy storage spring 107 is anchored to the blade fixing sleeve, and the other end is anchored to the bolt on the side wall of the root-cutting groove 108 for relative fixation. This structure forms an elastic energy storage system with adjustable preload.

[0141] The complete workflow of the root cutting module is as follows: See Figure 2 At this time, the first transmission component 103 and the second transmission component 104 are in a constrained state, and the blade is in a standby position. Based on the gear-spring coordinated kinetic energy conversion system, during operation, when the root cutting motor 106 is powered on, its output shaft generates a directional rotational torque that is synchronously transmitted to the second transmission component 104, causing the second transmission component 104 to start rotating. Since the second transmission component and the first transmission component are still in a constrained state due to their meshing, the rotation of the second transmission component drives the first transmission component to rotate in the opposite direction. Until the second transmission component 104 and the first transmission component 103 enter the non-meshing section, the cutting execution unit loses the constraint of the gear meshing force, and the constraint state is released. Under the preload of the energy storage spring 107, it quickly rotates to the low position. For details of the cutting module status at this time, see [link to relevant documentation]. Figure 4 The root cutting motor 106 then continues to rotate, and the second transmission component 104 re-engages with the first transmission component 103. The blade 101 is then lifted under the drive of the gear meshing force. Upon detecting the blade, the magnetic sensor 109 sends a trigger signal indicating that the blade has successfully lifted to the standby position. When the blade 101 reaches the standby position, the root cutting motor 106 is de-energized. At this point, the blade 101 remains stationary in the standby position under the constraint of the gear meshing force, awaiting the trigger of the next root cutting action, thus completing a single root cutting cycle.

[0142] With the energy storage cutting mechanism, the cutting speed is faster and more energy-efficient than ordinary rotating blades. Furthermore, the rapid and clean cutting process effectively avoids a series of problems such as chip residue, cutting marks, and shavings.

[0143] See Figure 4The adjustable collection module and drive module assembly adopts a "single-sided motor + dual-sided synchronous drive" layout. This results in a short power path and a compact structure. The drive module includes a power unit, a power transmission unit, and a guide unit. The power unit provides power input, and the power transmission unit transmits power to achieve the reciprocating motion of the adjustable collection module on the guide module. Specifically, the power unit includes a servo motor 201, a first synchronous pulley 202, and a first synchronous belt 203. The power transmission module comprises a symmetrically distributed and synchronously operating first and second transmission subsystems. The guide unit consists of linear guide components such as slide rails / racks, used to constrain the reciprocating motion trajectory of the adjustable collection module.

[0144] The specific power transmission path is as follows:

[0145] Initial power output: The output shaft of the servo motor 201 drives the first synchronous pulley 202 to rotate synchronously via a keyway. The first synchronous pulley 202 transmits power to the first synchronous belt 203. Thus, the initial power transmission from the drive module to the outside world is completed.

[0146] The first transmission subsystem's side transmission works as follows: The first synchronous belt 203 transmits torque to the second synchronous pulley 204. The second synchronous pulley 204 is rigidly connected to the transfer bearing assembly 205 and rotates synchronously. The transfer bearing assembly 205 diverts power to the second synchronous belt 206, which drives the fourth synchronous pulley 212 and the third synchronous pulley 208, thereby causing the first gear 209 to mesh with the first rack 210, forming a linear kinematic pair. The fourth synchronous pulley 212 directly drives the second gear 211 to mesh with the first rack 210, forming a linear kinematic pair. Thus, the first transmission subsystem completes the rotational-to-linear conversion and drives one side of the adjustable collection module to reciprocate.

[0147] The second transmission subsystem's side transmission: Power is transmitted from the first side to the second side via the extension shaft of the transfer bearing assembly 205 driving the synchronization component 213. This drives the fifth synchronous pulley 214 to rotate, which in turn transmits power to the third synchronous belt 215. The fifth synchronous pulley 214 then drives the sixth synchronous pulley 218 via the third synchronous belt 215, which in turn drives the meshing transmission between the third gear 217 and the second rack 219. A fourth gear 220 is located at the other end of the third synchronous belt, directly meshing with the second rack 219 to form linear motion. Thus, the second transmission subsystem achieves linear motion synchronized with the first transmission subsystem. The dual-side motion subsystems ensure uniform force distribution and no jamming on both sides of the adjustable collection module. The first tension pulley 207 and the second tension pulley 216 maintain appropriate belt tension to ensure normal transmission.

[0148] The above embodiment adopts a single-sided drive mode, where the power unit is directly connected to the first transmission subsystem. Power is transmitted from the first side to the second side between the first and second transmission subsystems via a synchronization component 213. Optionally, when the first and second transmission subsystems are each directly connected to an independent servo motor, the synchronization component 213 can be omitted. In this case, the first and second transmission subsystems directly receive the output torque from their respective servo motors, still ensuring synchronized operation on both sides.

[0149] See Figure 5 and Figure 8 and Figure 11 This is a schematic diagram of the adjustable collection module, which includes a enclosure assembly and a base plate assembly. The enclosure assembly and the base plate assembly together form a support and containment for the mushrooms. The base plate assembly provides upward support for the mushrooms, while the enclosure assembly, perpendicular to the base plate assembly, prevents the mushrooms or waste roots from rolling off.

[0150] See Figures 5-11 The support base 306 of the adjustable collection module 3 is fixedly connected to the first stop 301 and the second stop 302. The adjustable collection module is subject to... Figure 4 When the drive of the transmission device shown performs displacement in the first direction, the first stop 301 and the second stop 302 are coupled in contact with the second enclosure 314 and the third enclosure 315, and together they pull the support base 306 to move synchronously in the first direction under the push of the second enclosure 314 and the third enclosure 315.

[0151] The movable base plate 305 is connected to the first sliding plate axle seat 303 and the second sliding plate axle seat 304 via a linkage mechanism. The connecting end of the movable base plate 305 can rotate, while the other end is a free end. When the adjustable collection module moves along the first direction, the movable base plate 305 and its sidewalls undergo a linkage displacement under the action of the transmission device. It is easy to understand that, since the support base 306 moves synchronously along the first direction under the action of contact coupling, the free end of the movable base plate 305 is always maintained within the support boundary of the support base 306 during this movement, and forms a continuous horizontal bearing surface with the sliding engagement of the support base (see specific configuration). Figure 7 , Figure 8 ).

[0152] Specifically, the base plate assembly and the enclosure assembly constitute the cavity structure. Preferably, the upper surface of the base plate assembly can be made of a flexible material, which has excellent cushioning and shock absorption properties, effectively protecting the harvested mushrooms and preventing damage from collisions and compression during collection and transportation. The main body of both the base plate assembly and the enclosure assembly is made of rigid material. This rigid material forms the main structure of the enclosure assembly, providing sufficient support to ensure its stability and durability. The rigid material can be metal or high-strength plastic, which possesses good mechanical properties and durability. After the agricultural products fall into the material collection area and waste collection area, the rigid material helps them maintain their shape, preventing them from falling off the edges. This ensures the stability and reliability of the material collection area and waste collection area. See also Figure 11 Specifically, the enclosure assembly includes a first enclosure 313, a second enclosure 314, a third enclosure 315, a fourth enclosure 316, a fifth enclosure 317, and a separator 318. The separator 318 is arranged longitudinally along the movement direction of the adjustable collection module, dividing the area enclosed by the enclosure into two parts: one side is a waste collection area, and the other side is a material collection area. The second enclosure 314 is located on the side of the material collection area facing the harvesting robot, forming the entrance to the material collection area; the third enclosure 315 is located on the side of the waste collection area facing the harvesting robot, and is equipped with a mounting base for the root cutting module, which can fix the root cutting module, forming the entrance to the waste collection area. In this design, at least a portion of the upper part of the second enclosure 314 and the separator 318 is lower than the other enclosures. Flexible separators 309 and flexible enclosures 308, made of nylon, are vertically installed on their lower upper parts. For rigid structures like harvesting arms, the flexible nylon material can be easily pushed aside to reach into the cavity for grasping or placing. The nylon bristles elastically retract under external force, without interfering with the robotic arm's movements. After the mushroom falls in and the robotic arm retracts, the nylon bristles immediately spring back to their original height, restoring the enclosure. Utilizing the dense arrangement of the bristles and the flexible rebound properties of the nylon material, the collected mushrooms are contained within the cavity, preventing them from falling out due to shaking or tilting. This also prevents agricultural products from mixing in the material collection area and the waste collection area. Thus, the flexible enclosures and flexible separators act as a "one-way valve" for agricultural products, simultaneously increasing the effective depth of the cavity and enhancing space utilization. Furthermore, since the nylon brushes replace the upper part of the rigid enclosures, the robotic arm no longer needs to reserve height to "climb over" the rigid enclosures. Within the same shelf clearance, this design converts all the height originally used for "obstacle crossing" into the effective depth of the cavity; the end effector of the robotic arm only needs to translate to pass through the bristles and extend into the cavity to complete the operation, thus making full use of the limited height resources for volume and range of motion, maximizing both space utilization and freedom of movement. This feature further enhances the flexibility and adaptability of the device in confined spaces.

[0153] The adjustable collection module of the agricultural product collection device can be flexibly configured according to actual needs. When the root-cutting module is configured, the cavity structure is divided into a material collection area and a waste collection area by a separator, so as to achieve the separation and separate collection of mushrooms and roots. When the root-cutting module is not configured, the separator can be omitted, and the entire cavity structure is used to directly receive and contain unprocessed whole agricultural products. This design allows the device to adapt to different operating processes and application scenarios, enhancing the overall scalability and flexibility of use. (See attached image) Figure 8 As shown, the second energy storage spring 310 configured in this scheme has one end rigidly connected to the side wall of the support base 306, and the other end connected to the main fixed base 311. When the system performs displacement in the first direction, the translational movement of the support base plate 306 forces the second energy storage spring 310 into an elastic energy storage state—the mechanical energy is converted into controllable potential energy storage during the axial tensile deformation of the spring. When the system performs displacement in the first direction, the potential energy stored in the spring is immediately converted into a reverse driving force, which precisely pulls the support base 306 assembly back to the initial position along the motion guide rail through its elastic recoil characteristics, realizing the closed-loop reset function of the entire mechanism. When the adjustable collection module moves in the first direction, the free end of the movable base plate 305 does not move out of the support base 306. Therefore, with support at both ends, the movable base plate 305 forms a horizontal bearing surface. For details, see [link to relevant documentation]. Figure 7 , Figure 8 See also Figure 9 When the adjustable collection module moves as a whole in the second direction, the movable base plate 305 gradually detaches from the support base 306 until it reaches... Figure 10 As shown in the extreme position (unloading state), when the movable base plate fully extends from the support base 306, the free end of the movable base plate 305 will flip downwards due to the loss of support below, causing the mushroom to fall out of the adjustable collection module. Because of the tension between the connecting end of the movable base plate 305 and the first sliding plate axle 303 and the second sliding plate axle 304, the movable base plate will not fall out of the adjustable collection module; only the free end can flip. This allows the adjustable mushroom collection module to receive mushrooms when moving in the first direction and to prevent material from piling up when moving in the second direction. See details for specific states. Figures 10-11 When the enclosure component in the adjustable collection module is full, the flexible enclosure 308 and flexible partition 309 located on top of the enclosure component will prevent mushrooms from falling out, increasing the capacity of the adjustable collection module. The waste collection area 307 is used to collect waste such as mushroom roots generated after the root-cutting device has cut the roots.

[0154] Specifically, both the enclosure components and the mushroom-contact surfaces are made of food-grade materials.

[0155] See Figure 6The mushroom-leveling mechanism includes a power drive module comprising a micro geared motor 409, whose output shaft is connected to a tenth synchronous pulley 407 via a keyway. The tenth synchronous pulley 407 drives a ninth synchronous pulley 405 and an eleventh synchronous pulley 408 via a fifth synchronous belt 406. The ninth synchronous pulley 405 is vertically fixed to the driving end of the first pushing rod 404 via a flange, and the eleventh synchronous pulley 408 is fixed to the driving end of the second pushing rod 403 in the same manner. A first transfer bearing sleeve 401 is mounted on the non-driving end of the first pushing rod 404, and a second transfer bearing sleeve 402 is mounted on the non-driving end of the second pushing rod 403. Specifically, the width of the entire leveling mechanism is equal to the width of the cavity or the inner cavity of the material collection area. Through the rotation of the first and second pushing rods, a reciprocating "inward-outward" leveling action is formed on the mushrooms, preventing unidirectional accumulation.

[0156] The working principle of this patent:

[0157] S1 Positioning Phase: See [link] Figure 12 After the harvesting arm on the harvesting robot picks the mushroom, it inserts the mushroom root into the root-cutting groove 108, so that the mushroom's axis is basically perpendicular to the root-cutting groove 108. At the same time, it controls the servo motor 201 to rotate forward, and the adjustable collection module moves a certain position in the first direction. Figure 7 (State), the mushroom is roughly in the middle of the root cutting groove in the horizontal direction, while the position of the mushroom to be cut is on the rotating plane of the blade 101.

[0158] S2 Cutting Stage: The cutting motor 106 is energized, and it begins to rotate. The second transmission component 104 starts to rotate under the drive of the cutting motor until the first transmission component 103 and the second transmission component 104 disengage and enter the non-engaging stage. The blade then begins to rotate under the preload of the energy storage spring 107. Figure 2 Rotate downwards from the initial position shown. Figure 3 During the rotation, the mushroom roots are swept over and fall into the waste collection area 307.

[0159] S3 Recovery Phase: The root cutting motor 106 continues to be powered until the first transmission component 103 and the second transmission component 104 begin to mesh again and re-enter the meshing phase. At this time, the blade begins to rotate until it returns to the initial position, triggering the magnetic sensor 109 to send a blade 101 lifting signal. Due to the constraint of the meshing force, the blade can stop in the high position of the initial position, controlling the root cutting motor 106 to be powered off, so that the blade remains in the lifted state and waits for the next root cutting command.

[0160] S4 Collection Stage: The picking arm moves toward the material collection area, passing through the flexible partition 309 to drop the mushrooms with their roots cut off, and the mushrooms fall into the material collection area.

[0161] S5 Reset Phase: The harvesting robot's harvesting arm returns to the harvesting area to harvest the next mushroom. Simultaneously, the servo motor 201 is reversed and / or the restoring force of the second reset spring 310 is used to return the adjustable collection module and support base 306 to their initial positions. Figure 1 (and wait for the next mushroom to be passed on.)

[0162] S6 Cycle Phase: Repeat S1-S5, continuing the picking, root cutting, and collection operations until all mushrooms in the picking area have been picked.

[0163] S7 Movement Phase: After one row of mushrooms has been harvested, the harvesting robot moves in the first direction to enter the next harvesting area. The collection device, detected by displacement sensors, adjusts its position in real time, closely following the harvesting robot as it moves in the first direction into the new harvesting area to continue harvesting and collecting.

[0164] S8 Emptying Phase: If the material collection area is full, stop harvesting and root cutting, control the collection device to move along the mushroom cultivation rack in the second direction, and slowly stop when it approaches the end of the mushroom cultivation rack, in preparation for the mushroom emptying operation.

[0165] S9: Upon reaching the unloading position, control the servo motor 201 to reverse, the adjustable collection module moves in the second direction, but the support base 306 remains stationary. The movable base plate, having lost the support of the support base, will flip downwards (see...). Figure 8 At this point, the mushrooms and waste roots complete the material falling process under the action of gravity.

[0166] S10: After the material is unloaded, control the servo motor 201 to rotate forward and retract the adjustable collection module to the initial position. Figure 1 Then, the collecting device is controlled to approach the picking robot under the detection of the displacement sensor until the distance between the two reaches the preset distance and then stops.

[0167] S11: Notify the robot to continue harvesting, and cooperate with the robot to cut roots and collect. Continue until the next harvest is complete. Repeat S8-S10.

[0168] S12: Repeat S6-S11, picking, cutting roots, collecting, and transporting row by row until the entire layer has been picked.

[0169] Industrial application

[0170] In summary, this invention provides an agricultural product collection device. Compared to existing technologies, its advantages lie in the following: This invention aims to provide a novel agricultural product collection device that effectively solves the problems of complex operation, poor spatial adaptability, and low efficiency in existing technologies. Through an innovative layout design of "following-root cutting collection-unloading" along a common track, the three main actions of root cutting, receiving, and unloading are completed along the same track in the direction of the harvesting robot's movement. This completely eliminates the reliance on lateral channels, is specifically designed for confined spaces, and has strong spatial adaptability, easily adapting to limited spaces where the spacing between mushroom cultivation racks is too narrow or even nonexistent. The follow-along design allows the collection device to closely follow the harvesting robot, reducing space occupation, avoiding interference with workers' normal activities, and eliminating the need to encroach on workers' passage or maintenance space. The longitudinally arranged root-cutting module utilizes an energy storage mechanism to achieve efficient and precise root cutting, producing clean cuts without debris, solving the problems of cutting marks and chipping associated with traditional rotating blades. The flexible enclosure and / or flexible partitions allow the robotic arm to operate directly through the flexible enclosure without additional obstacle-crossing height, converting all the limited shelf clearance into cavity depth. After mushrooms fall into the flexible enclosure and / or flexible partitions, they rebound to prevent falling, effectively increasing the effective volume of the cavity compared to purely rigid enclosures. Furthermore, this device is easy to operate and maintain, reducing the professional requirements and labor intensity for operators. The collection device tracks the harvesting robot's movement in real time, and with the efficient power transmission of the transmission module, it reduces manual intervention and improves the overall automation level of the operation. The partitions automatically divide the cavity into a material collection area and a waste collection area, achieving instant mushroom-root separation without manual sorting.

[0171] The terms and expressions used in this specification are for illustrative purposes and not for limitation. The use of these terms and expressions is not intended to exclude any equivalents of the features or portions thereof shown and described, but rather to allow for the understanding that various modifications may be made within the scope of the invention.

[0172] Therefore, it should be understood that although the invention has been specifically disclosed through preferred embodiments, exemplary embodiments and optional features, those skilled in the art may take variations or modifications of the concepts disclosed herein, and such variations and modifications are therefore considered to be within the scope of the invention as defined by the appended claims.

[0173] The specific embodiments given in this specification are examples of useful implementations of the present invention. It will be apparent to those skilled in the art that the present invention can be implemented using many variations of the devices, device components, and method steps disclosed in this specification.

[0174] The foregoing description of specific embodiments has fully disclosed the general features of the invention, enabling others to easily modify and / or adapt such embodiments for various applications by applying knowledge within the scope of the art, without excessive experimentation and without departing from the general conception of the invention. Therefore, based on the teachings and guidance provided herein, it is intended that such modifications and alterations be included within the meaning and scope of equivalents of the disclosed embodiments. It should be understood that the wording or terminology used herein is for descriptive purposes and is not intended to be limiting; thus, the wording or terminology in this specification will be interpreted by those skilled in the art based on the foregoing teachings and guidance.

[0175] Furthermore, the scope of the invention should not be limited to any of the exemplary embodiments described above, but only to the appended claims and their equivalents.

Claims

1. An agricultural product collection device, characterized in that: Include: The adjustable collection module is configured to receive agricultural products; The drive module is connected to the adjustable collection module; Main module: Used to integrate and support the adjustable collection module and the drive module, and includes a walking mechanism capable of driving the entire agricultural product collection device to move. in: The drive module includes a power unit, a power transmission unit, and a guide unit; the power transmission unit can convert the torque input by the power unit into linear displacement, thereby driving the adjustable collection module to move back and forth along a preset path, and the guide unit constrains the movement trajectory of the adjustable collection module. The power transmission unit includes a first transmission subsystem and a second transmission subsystem that are symmetrically distributed and operate synchronously. The first transmission subsystem includes a first torque transmission component and a first linear conversion component; The second transmission subsystem includes a second torque transmission component and a second linear conversion component; The first torque transmission component and the second torque transmission component are either a belt-pull assembly or a sprocket assembly; The first linear conversion component and the second linear conversion component are any one of a gear-rack pair, a lead screw-nut pair, or a worm-rack pair; The power unit drives the first transmission subsystem, and the first transmission subsystem and the second transmission subsystem are connected by a synchronization component. The adjustable collection module includes a base plate assembly and a fencing assembly; the base plate assembly has a movable base plate and a support base disposed below the movable base plate; the fencing assembly is disposed perpendicular to the movable base plate and together with the base plate assembly forms a cavity structure; the movable base plate is rotatably connected to the fencing assembly through a linkage mechanism, with one end being a connecting end and the other end being a free end; When the adjustable collection module is driven to move along the first direction, the support base moves synchronously with the enclosure assembly and the movable base plate, and the movable base plate is supported by the support base to form a horizontal bearing surface; When the adjustable collection module is driven to move in a second direction opposite to the first direction, the movable base plate moves relative to the support base and gradually extends until the free end moves out of the support range of the support base and then flips downward to realize material dropping.

2. The agricultural product collection device according to claim 1, characterized in that: At least a portion of the upper part of the enclosure assembly facing the external harvesting robot is lower than the rest of the enclosure, and the lower upper part is continuously or segmented as a flexible enclosure along its length, wherein the flexible enclosure is configured as follows: When the robotic arm of the harvesting robot delivers the agricultural product to the cavity structure, the flexible barrier deforms to allow the robotic arm and the agricultural product to translate into the cavity structure, forming the entrance of the cavity structure; after the robotic arm of the harvesting robot completes the delivery of the agricultural product, the flexible barrier deforms to allow the robotic arm to move out of the cavity structure; After the robotic arm of the harvesting robot completes its entry or exit, the flexible barrier automatically springs back to its original position, forming a continuous flexible guardrail that prevents the agricultural products from falling out of the cavity structure.

3. The agricultural product collection device according to claim 1, characterized in that: The adjustable collection module is also provided with a material leveling component, which includes a lever and a drive subunit, and the drive subunit drives the lever to perform reciprocating motion.

4. The agricultural product collection device according to any one of claims 1-3, characterized in that: The agricultural product collection device also includes a root cutting module, which includes an energy storage mechanism and a cutting execution unit. The energy storage mechanism is configured to maintain the cutting execution unit in a standby position under constrained conditions and drive the cutting execution unit to complete the cutting action at high speed when the constraint is released.

5. The agricultural product collection device according to claim 4, characterized in that: The root-cutting module also includes a power source and a transmission assembly, the transmission assembly being configured to switch between a first state and a second state in response to power input from the power source. In the first state, the transmission component establishes the constraint state; In the second state, the transmission component is released from the constraint state; The establishment or release of the constraint state is triggered by the engagement or disengagement of the transmission component.

6. The agricultural product collection device according to claim 5, characterized in that: The cavity structure is divided into a material collection area and a waste collection area, which are independent of each other. The waste collection area is located on the output side of the root cutting module and is separated by a separator.

7. The agricultural product collection device according to claim 6, characterized in that: At least a portion of the upper part of the separator is configured to have a height lower than the height of the remaining parts, and a flexible partition is provided continuously or segmentally along the length direction on the lower upper part, the flexible partition being configured as follows: The flexible partition can deform to allow the robotic arm and the agricultural product to move into the material collection area; after the robotic arm of the harvesting robot completes the delivery of the agricultural product, the flexible partition deforms to allow the robotic arm to move out of the material collection area; after the robotic arm of the harvesting robot completes the entry or exit, the flexible partition automatically springs back to its original position; after the agricultural product falls into the material collection area and / or the waste collection area, the flexible partition can prevent the agricultural product from moving and mixing between the material collection area and / or the waste collection area.

8. The agricultural product collection device according to claim 7, characterized in that: The flexible enclosure and / or the flexible partition are configured as vertical flexible brushes.

9. The agricultural product collection device according to claim 8, characterized in that: The vertical flexible brush is made of nylon material.

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