A large batch ganoderma picking device

Abstract

The present application relates to the technical field of ganoderma lucidum picking device, and particularly relates to a large-batch ganoderma lucidum picking device. The large-batch ganoderma lucidum picking device comprises an unmanned carrier, a controller installed on the unmanned carrier, a lift symmetrically installed on the unmanned carrier, a mounting frame connected to a lifting platform of the lift, electric push rods symmetrically installed on inner top portions of the mounting frame, a moving frame connected to telescopic rods of the electric push rods, guide rods symmetrically connected to the moving frame, and sliding frames slidingly connected to the guide rods. The large-batch ganoderma lucidum picking device can drive the moving frame and the electric scissors to accurately move to the root of the ganoderma lucidum through the cooperation of the unmanned carrier, the lift and the electric push rods, and can realize the automatic and accurate picking of the ganoderma lucidum in combination with the visual positioning of the camera. Meanwhile, the large-batch ganoderma lucidum picking device can automatically distinguish the unripe ganoderma lucidum and not pick it. In addition, the linkage design of the conveying belt, the electric roller and the conveyor can quickly convey the picked ganoderma lucidum into the collecting frame, thereby improving the picking efficiency and reducing the labor intensity.

Description

Technical Field

[0001] This invention relates to the technical field of Ganoderma lucidum harvesting devices, and more particularly to a device for large-scale Ganoderma lucidum harvesting. Background Technology

[0002] Reishi mushroom, as a precious medicinal fungus, has high economic and medicinal value. Its artificial cultivation technology is relatively mature. At present, the main cultivation method of reishi mushroom is the bag cultivation method, which involves inoculating the reishi mushroom spores into bags containing culture medium. The bags are usually neatly stacked on the ground or placed on multi-layer shelves to save space and facilitate management. By controlling environmental conditions such as temperature, humidity and light, the growth of reishi mushroom is promoted. When the reishi mushroom matures, its fruiting bodies will naturally emerge from both ends of the bag.

[0003] However, current methods of harvesting Ganoderma lucidum still rely primarily on manual labor, which suffers from significant inefficiency and high labor intensity. Specifically, because the spawn bags are typically densely packed and the Ganoderma lucidum grows at varying positions and heights, workers need to bend over or squat down to inspect and harvest each mature specimen, a process that is time-consuming and labor-intensive. In large-scale cultivation scenarios, the efficiency bottleneck of manual harvesting is particularly pronounced. For example, a medium-sized Ganoderma lucidum cultivation base may simultaneously cultivate tens of thousands or even hundreds of thousands of spawn bags. Relying solely on manual harvesting not only requires a large workforce but also easily leads to missed harvests or damage to the Ganoderma lucidum due to operator fatigue. Because Ganoderma lucidum has a short growth cycle and a concentrated ripening period, if harvesting cannot be completed quickly, some Ganoderma lucidum may become overripe or rot, affecting both quality and yield. Summary of the Invention

[0004] In view of this, the present invention provides a device for harvesting large quantities of Ganoderma lucidum, which can overcome the disadvantages of low work efficiency, high labor intensity, and easy to miss or damage Ganoderma lucidum due to operator fatigue when harvesting Ganoderma lucidum manually.

[0005] The technical solution of this invention is: a large-scale Ganoderma lucidum harvesting device, comprising: an unmanned transport vehicle; a controller installed on the unmanned transport vehicle; a lift symmetrically installed on the unmanned transport vehicle; a mounting frame connected to the lifting platform of the lift; electric push rods symmetrically installed on the inner top of the mounting frame; a movable frame connected to the telescopic rod of the electric push rod; a guide rod symmetrically connected to the movable frame; a sliding frame slidably connected to the guide rod; electric shears installed on the side of the sliding frame; a lifting assembly set on the movable frame for driving the electric shears to lift; and a conveying assembly set on the mounting frame for conveying and discharging the harvested Ganoderma lucidum.

[0006] Furthermore, the lifting assembly includes: a servo motor, symmetrically mounted on the movable frame; a screw, symmetrically rotatably connected to the movable frame, and the sliding frame is threadedly connected to the screw; and a pulley assembly, through which the output shaft of the screw and the servo motor are driven.

[0007] Furthermore, the conveying assembly includes: an electric roller rotatably connected to the interior of the mounting frame; a first conveying roller shaft rotatably connected to the interior of the mounting frame; a second conveying roller shaft rotatably connected to the movable frame; a conveyor belt wound between the electric roller, the first conveying roller shaft, and the second conveying roller shaft; and a collection mechanism mounted on an unmanned transport vehicle for collecting the harvested Ganoderma lucidum.

[0008] Furthermore, the collection mechanism includes: a conveyor mounted on the automated guided vehicle (AGV); a fixed frame connected to the AGV; collection frames symmetrically placed inside the fixed frame; and handles symmetrically connected to the top of the collection frames.

[0009] Furthermore, it also includes a camera, mounted on the side of the sliding frame.

[0010] Furthermore, it also includes: a fixed frame connected to the conveyor; a connecting rod connected to the fixed frame and the conveyor at both ends respectively; a rotating plate connected to the fixed frame at even intervals; and a torsion spring wound around the rotating shaft of the rotating plate, with both ends of the torsion spring connected to the rotating plate and the fixed frame respectively.

[0011] Furthermore, it also includes a guide plate, which is connected to the top of the fixed frame.

[0012] Furthermore, it also includes: a buffer plate, connected to the inside of the collection frame, with the top of the buffer plate in contact with the bottom of the guide plate.

[0013] The beneficial effects are: 1. Through the coordinated operation of unmanned transport vehicles, elevators and electric push rods, this invention can drive the mobile frame and electric scissors to move precisely to the root of Ganoderma lucidum. Combined with the visual positioning of the camera, it can realize the automated and precise harvesting of Ganoderma lucidum and can automatically identify immature Ganoderma lucidum and not harvest it. At the same time, the linkage design of the conveyor belt, electric roller and conveyor can quickly transport the harvested Ganoderma lucidum to the collection box, improve the harvesting efficiency and reduce the intensity of manual labor.

[0014] 2. This invention utilizes a rotating plate and torsion spring structure on a fixed frame to provide step-by-step buffering for Ganoderma lucidum falling from a height, avoiding direct impact damage. The inclined surface design of the guide plate and buffer plate, as well as the friction treatment of the strip groove, further slows down the falling speed of the Ganoderma lucidum. This double protection ensures the integrity of the Ganoderma lucidum during harvesting and transportation.

[0015] 3. The mobile frame of the present invention can adjust the horizontal position by electric push rod and adjust the height with the lifting machine, so as to adapt to mushroom bags with different arrangement density and layer height. The collection frame adopts a detachable design and can be quickly replaced by handle, which can meet the needs of large-scale continuous harvesting. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention in operation.

[0017] Figure 2 This is a schematic diagram of the specific structure of the mounting frame of the present invention.

[0018] Figure 3 This is a schematic diagram showing the installation of the conveyor, fixing frame, collecting frame and handle of the present invention.

[0019] Figure 4 This is a schematic diagram of the separation structure of the fixing frame and the collecting frame of the present invention.

[0020] Figure 5 This is a schematic diagram showing the installation of the fixing frame, connecting rod, and rotating plate of the present invention.

[0021] Figure 6 This is a cross-sectional view of the fixing frame of the present invention.

[0022] Figure 7 This is a schematic diagram of the installation of the guide plate and buffer plate of the present invention.

[0023] Figure 8 This is a schematic diagram of the separation structure of the guide plate and the buffer plate of the present invention.

[0024] Component names and serial numbers in the diagram: 001-Mushroom bag, 1-Unmanned transport vehicle, 2-Controller, 3-Elevator, 4-Mounting frame, 5-Electric push rod, 6-Moving frame, 7-Guide rod, 8-Sliding frame, 9-Electric shears, 10-Servo motor, 11-Screw, 12-Pulley assembly, 13-Electric roller, 14-First conveyor roller shaft, 15-Second conveyor roller shaft, 16-Conveyor belt, 17-Conveyor, 18-Fixed frame, 19-Collection frame, 20-Handle, 21-Camera, 22-Fixed frame, 23-Connecting rod, 24-Rotating plate, 25-Torsion spring, 26-Guide plate, 27-Buffer plate. Detailed Implementation

[0025] Example: A device for large-scale harvesting of Ganoderma lucidum, such as... Figures 1-4As shown, the system includes an automated guided vehicle (AGV) 1, a controller 2, a lift 3, a mounting frame 4, an electric push rod 5, a moving frame 6, a guide rod 7, a sliding frame 8, an electric scissors 9, a lifting assembly, and a conveying assembly. The AGV 1 is an automated guided vehicle capable of autonomously traveling along a predetermined path or track without a driver. This is existing technology and will not be described in detail here. The controller 2 is mounted on the top front of the AGV 1. Figure 1 (Described from the perspective shown) The top front of the unmanned transport vehicle 1 is symmetrically equipped with lifting platforms 3. The lifting platforms 3 are located in front of the controller 2. The lifting platforms of the two lifting platforms 3 are connected to the mounting frames 4. The left and right sides and bottom of the two mounting frames 4 are open. The inner top of the two mounting frames 4 are symmetrically equipped with two electric push rods 5. The telescopic rods of the two electric push rods 5 are connected to the moving frame 6. The moving frame 6 is located inside the mounting frame 4. The two moving frames 6 are symmetrically connected to the two guide rods 7 on the side that is far apart from each other. The two guide rods 7 are slidably connected to the two sliding frames 8. Electric scissors 9 are installed in the middle of the side that is far apart from each other of the two sliding frames 8. The moving frame 6 is equipped with a lifting component for driving the electric scissors 9 to lift and lower. The mounting frame 4 is equipped with a conveying component for conveying and discharging the harvested Ganoderma lucidum.

[0026] like Figure 2 As shown, the lifting assembly includes a servo motor 10, a screw 11, and a pulley assembly 12. Two servo motors 10 are symmetrically mounted on the opposite sides of the top of the two moving frames 6. Screws 11 are symmetrically rotatably connected to the opposite sides of the two moving frames 6. Each screw 11 corresponds to a servo motor 10, and the sliding frame 8 is threadedly connected to the screw 11. The pulley assembly 12 consists of two pulleys and a flat belt. The two pulleys are respectively connected to the upper end of the screw 11 and the output shaft of the servo motor 10. The flat belt is wound between the two pulleys so that the screw 11 and the output shaft of the servo motor 10 can be transmitted through the pulley assembly 12.

[0027] like Figures 2-4As shown, the conveying assembly includes an electric roller 13, a first conveyor roller 14, a second conveyor roller 15, a conveyor belt 16, and a collecting mechanism. The electric roller 13 is rotatably connected to the lower sides of the two mounting frames 4 that are close to each other, and the first conveyor roller 14 is rotatably connected to the lower sides of the two mounting frames 4 that are far apart from each other. The second conveyor roller 15 is rotatably connected to the left and right sides of the lower part of the two moving frames 6. A conveyor belt 16 is wound between the electric roller 13, the first conveyor roller 14, and the two second conveyor rollers 15. The unmanned transport vehicle 1 is equipped with a mechanism for handling the harvested Ganoderma lucidum. The collection mechanism includes a conveyor 17, a fixed frame 18, a collection frame 19, and a handle 20. The conveyor 17 is installed in the middle of the front side of the unmanned transport vehicle 1. The conveyor 17 is located between two mounting frames 4. The conveyor 17 is a climbing conveyor. The fixed frame 18 is connected to the rear of the top of the unmanned transport vehicle 1. The left and right sides and the top of the fixed frame 18 are open. The left and right sides inside the fixed frame 18 are each equipped with a collection frame 19. The top of the collection frame 19 is open. The front and rear sides of the top of the two collection frames 19 are connected with handles 20.

[0028] When it is necessary to harvest Ganoderma lucidum, first control the unmanned transport vehicle 1 to move between the two piles of mushroom bags 001 (e.g., Figure 1 (As shown), then the controller 2 controls the electric push rod 5 to drive the moving frames 6 on both sides to move closer to the mushroom bag 001. The moving frames 6 can drive the electric shears 9 and the two second conveying rollers 15 on them to move closer to the mushroom bag 001. At this time, one of the second conveying rollers 15 will move closer to the first conveying roller 14, and the other second conveying roller 15 will move away from the electric drum 13, while the first conveying roller 14 and the electric drum 13 remain stationary. In this way, the horizontal length of the conveyor belt 16 can be extended (e.g., Figure 2As shown), the end of the conveyor belt 16 is moved directly below one of the Ganoderma lucidum mushrooms, ensuring that the conveyor belt 16 remains taut to prevent it from disengaging from the electric roller 13, the first conveyor roller shaft 14, and the second conveyor roller shaft 15. This continues until the electric shears 9 are directly above the Ganoderma lucidum mushroom. Then, the controller 2 controls the electric shears 9 to open and controls the servo motor 10 to drive the screw 11 to rotate via the pulley assembly 12. The screw 11 drives the sliding frame 8 to move downwards along the guide rod 7, and the sliding frame 8 drives the electric shears 9 downwards to the root of the Ganoderma lucidum mushroom. The roots of the Ganoderma lucidum are cut off by the electric shears 9, controlled by the controller 2. The Ganoderma lucidum then falls onto the conveyor belt 16 due to gravity. The controller 2 then controls the servo motor 10 to drive the screw 11 in reverse via the pulley assembly 12. The screw 11 causes the sliding frame 8 and the electric shears 9 to move upwards and reset. Simultaneously, the controller 2 starts the electric roller 13 and the conveyor 17. The electric roller 13 drives the conveyor belt 16 to rotate, transferring the harvested Ganoderma lucidum onto the conveyor 17. Machine 17 can transport the harvested Ganoderma lucidum to the collection frame 19 for collection. Then, it controls the unmanned transport vehicle 1 to move backward a specified distance. Repeating the above operation, other Ganoderma lucidum on the same layer can be harvested automatically. When all the Ganoderma lucidum on one layer has been harvested, the controller 2 can control the elevator 3 to drive the installation frame 4 to move upward until it is aligned with the height of another layer of Ganoderma lucidum. Repeating the above operation, another layer of Ganoderma lucidum can be harvested automatically. When all the Ganoderma lucidum on the left and right sides of the unmanned transport vehicle 1 has been harvested, the controller 2 can control the electric push rod 5 to drive the left and right sides. The movable frames 6 on both sides move away from the mushroom bag 001 and reset. The movable frames 6 can drive the electric scissors 9 and the two second conveyor rollers 15 on them to move closer to the mushroom bag 001 and reset, so that the horizontal length of the conveyor belt 16 is shortened and restored. Then, the unmanned transport vehicle 1 is controlled to move to the next picking area to pick Ganoderma lucidum. When the collection frame 19 is full of Ganoderma lucidum, the worker can hold the handle 20 and pull the two collection frames 19 to the side away from each other, so that the collection frame 19 is separated from the fixed frame 18. Then, the new collection frame 19 is put into the fixed frame 18.

[0029] like Figure 2 As shown, it also includes a camera 21. Cameras 21 are installed on the rear of the two sliding frames 8 on opposite sides. When the moving frame 6 moves towards the mushroom bag 001, it can drive the camera 21 to move towards the mushroom bag 001. The camera 21 can capture the precise position of the Ganoderma lucidum, which makes it easy to control the electric scissors 9 to move precisely to the root of the Ganoderma lucidum, so that the Ganoderma lucidum can be harvested accurately. Moreover, the camera 21 can capture the shape of the Ganoderma lucidum. When the edge of the Ganoderma lucidum is light-colored or white, it means that the Ganoderma lucidum is not mature. The controller 2 can control the electric scissors 9 not to harvest the Ganoderma lucidum.

[0030] like Figure 5 and Figure 6 As shown, it also includes a fixed frame 22, a connecting rod 23, a rotating plate 24, and a torsion spring 25. The fixed frame 22 is connected to the lower front side of the conveyor 17. The connecting rod 23 is symmetrically connected to the upper rear side of the fixed frame 22 and the upper part of the conveyor 17. Multiple rotating plates 24 are evenly spaced and rotated on the fixed frame 22 from top to bottom. Each rotating plate 24 has a torsion spring 25 symmetrically wound on its rotation axis, and the two ends of the torsion spring 25 are respectively connected to the rotating plate 24 and the fixed frame 22.

[0031] When the conveyor belt 16 transports the harvested Ganoderma lucidum towards the conveyor 17, the Ganoderma lucidum will first fall onto the rotating plate 24. Then, the Ganoderma lucidum will press down on the rotating plate 24 due to its gravity, causing the rotating plate 24 to rotate downwards and open. The torsion spring 25 will deform, and the Ganoderma lucidum will fall onto the next rotating plate 24. When the Ganoderma lucidum separates from the previous rotating plate 24, the torsion spring 25 will return to its original shape, causing the previous rotating plate 24 to reverse and close. This process repeats until the Ganoderma lucidum falls onto the conveyor 17. The conveyor 17 can then transport the harvested Ganoderma lucidum into the collection frame 19 for collection. This buffers the falling Ganoderma lucidum and prevents it from falling directly from a height onto the conveyor 17 and being damaged.

[0032] like Figure 7 and Figure 8 As shown, it also includes a guide plate 26 and a buffer plate 27. The top center of the fixed frame 18 is connected to the guide plate 26. The guide plate 26 is in the shape of an inverted "V". The bottom of the two collection frames 19 is connected to the buffer plate 27. The buffer plate 27 is inclined and the top of the buffer plate 27 contacts the bottom of the guide plate 26. The surfaces of the guide plate 26 and the buffer plate 27 are spaced apart with strip grooves.

[0033] When the conveyor 17 transports the harvested Ganoderma lucidum to the top of the collection frame 19, the Ganoderma lucidum will fall onto the guide plate 26 due to gravity, and then slide down the inclined surfaces of the guide plate 26 and the buffer plate 27 into the collection frame 19. The guide plate 26 can prevent the Ganoderma lucidum from getting stuck between the tops of the two collection frames 19, thus ensuring that the Ganoderma lucidum falls into the two collection frames 19. The buffer plate 27 is used to cushion the Ganoderma lucidum, and the strip grooves on the surface of the guide plate 26 and the buffer plate 27 can increase the friction between the Ganoderma lucidum and the Ganoderma lucidum, preventing the Ganoderma lucidum from falling directly from a height into the collection frame 19 and being damaged.

Claims

1. A device for large-scale harvesting of Ganoderma lucidum, comprising: an unmanned transport vehicle (1); characterized in that, It also includes: a controller (2), installed on the unmanned transport vehicle (1); a lift (3), symmetrically installed on the unmanned transport vehicle (1); a mounting frame (4), connected to the lifting platform of the lift (3); an electric push rod (5), symmetrically installed on the inner top of the mounting frame (4); a moving frame (6), connected to the telescopic rod of the electric push rod (5); a guide rod (7), symmetrically connected to the moving frame (6); a sliding frame (8), slidably connected to the guide rod (7); an electric shears (9), installed on the side of the sliding frame (8); a lifting assembly, set on the moving frame (6), used to drive the electric shears (9) to lift; and a conveying assembly, set on the mounting frame (4), used to convey and discharge the harvested Ganoderma lucidum. The lifting assembly includes: a servo motor (10), symmetrically mounted on the movable frame (6); a screw (11), symmetrically rotatably connected to the movable frame (6), and a sliding frame (8) threadedly connected to the screw (11); a pulley assembly (12), through which the output shaft of the screw (11) and the servo motor (10) are driven; the conveying assembly includes: an electric roller (13), rotatably connected to the inside of the mounting frame (4); a first conveying roller shaft (14), rotatably connected to the inside of the mounting frame (4); a second conveying roller shaft (15), rotatably connected to the movable frame (6); and a conveyor belt (16), wound between the electric roller (13), the first conveying roller shaft (14), and the second conveying roller shaft (15); The collection mechanism is set on the unmanned transport vehicle (1) and is used to collect the harvested Ganoderma lucidum. The collection mechanism includes: a conveyor (17) installed on the unmanned transport vehicle (1); a fixed frame (18) connected to the unmanned transport vehicle (1); a collection frame (19) symmetrically placed inside the fixed frame (18); and a handle (20) symmetrically connected to the top of the collection frame (19).

2. The device for large-scale Ganoderma lucidum harvesting according to claim 1, characterized in that, It also includes: a camera (21) mounted on the side of the sliding frame (8).

3. The device for large-scale Ganoderma lucidum harvesting according to claim 1, characterized in that, It also includes: a fixed frame (22) connected to the conveyor (17); a connecting rod (23) with its two ends connected to the fixed frame (22) and the conveyor (17) respectively; a rotating plate (24) that is evenly spaced and rotated on the fixed frame (22); and a torsion spring (25) that is wound around the rotating shaft of the rotating plate (24) and has its two ends connected to the rotating plate (24) and the fixed frame (22) respectively.

4. The device for large-scale Ganoderma lucidum harvesting according to claim 1, characterized in that, It also includes: a guide plate (26), which is attached to the top of the fixed frame (18).

5. The device for large-scale Ganoderma lucidum harvesting according to claim 4, characterized in that, It also includes: a buffer plate (27), which is connected to the inside of the collection box (19), and the top of the buffer plate (27) contacts the bottom of the guide plate (26).

Images