Integrated mushroom mechanical picking and harvesting platform

Abstract

The application discloses an integrated edible mushroom mechanical picking and harvesting platform, and relates to the technical field of edible mushroom picking, which comprises an electric crawler trolley, a scissor elevator, a grabbing mechanism and a collecting mechanism. The electric crawler trolley, the scissor elevator, a visual module, a multi-shaft mechanical arm, an extension assembly and the collecting mechanism are arranged. In use, the visual module in the grabbing mechanism is used for identifying the position of edible mushrooms, the multi-shaft mechanical arm cooperates with a clamping jaw to complete the picking of edible mushrooms, the extension assembly is used for driving the multi-shaft mechanical arm to extend into the interior of a mushroom rack, and the collecting mechanism comprises an electronic scale and a collecting box and is used for collecting and monitoring the weight of picked edible mushrooms. The application realizes the independent movement, lifting positioning, automatic identification, accurate picking and automatic collection of the equipment, and solves the problems of dependence on manual operation, high labor intensity, low picking efficiency and safety hazards in the picking of high-level mushroom racks.

Description

Technical Field

[0001] This invention relates to the field of edible fungi harvesting technology, specifically an integrated mechanized edible fungi harvesting platform. Background Technology

[0002] Edible fungi are an important economic crop, and are widely cultivated using tiered, multi-layered, three-dimensional cultivation methods to increase yield per unit area. After the fungi mature, they need to be harvested promptly to ensure product quality and economic benefits.

[0003] In existing technologies, the harvesting of edible fungi mostly relies on manual labor. Workers typically use harvesting tools to pick the fungi layer by layer along the mushroom racks, placing the harvested fungi in collection containers before transporting them to the subsequent processing or storage area. Because the mushroom racks in edible fungi cultivation workshops have many layers and are densely arranged, harvesters need to move frequently and climb up and down, resulting in high labor intensity and low work efficiency.

[0004] Meanwhile, for mushroom racks that are quite tall, workers often need to use ladders, foot platforms, or lifting equipment to harvest the mushrooms, which not only increases the complexity of the operation but also poses safety hazards such as falls and collisions. In addition, the existing harvesting, collection, and transportation processes are usually independent of each other, requiring multiple manual handling and transfers, which can easily cause damage to the edible mushrooms due to compression, affecting the quality of the harvest and further increasing labor costs. Summary of the Invention

[0005] To address the problems mentioned in the background art, the present invention aims to provide an integrated mechanized harvesting platform for edible fungi, which has the advantages of improving harvesting efficiency, reducing labor costs, reducing the risks of manual climbing operations, and realizing integrated harvesting and collection of edible fungi. It solves the problems of existing edible fungi harvesting processes that rely on manual operation, have high labor intensity, low harvesting efficiency, and safety hazards in harvesting from high-rise mushroom racks.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an integrated mechanized edible fungus harvesting platform, comprising an electric tracked trolley, a scissor lift, a gripping mechanism, and a collecting mechanism. The scissor lift is fixedly installed on the top of the electric tracked trolley, the gripping mechanism is located on the front side of the top of the scissor lift, and the collecting mechanism is located on the rear side of the top of the scissor lift. The gripping mechanism includes a multi-axis robotic arm, a mounting frame, grippers, a vision module, and an extension assembly. The multi-axis robotic arm is installed on the top of the scissor lift, the mounting frame is fixedly installed on the free end of the multi-axis robotic arm, the grippers are fixedly installed on the mounting frame, the vision module is fixedly installed on one side of the mounting frame, and the extension assembly is located at the bottom of the multi-axis robotic arm. An electrical terminal box is fixedly installed on the top of the electric tracked trolley.

[0007] As a preferred embodiment of the present invention, the collection mechanism includes an electronic scale and a collection box. The electronic scale is fixedly installed on the rear side of the top of the scissor lift, the collection box is disposed on the top of the electronic scale, and an audible and visual alarm is fixedly installed on the top of the electrical terminal box.

[0008] In a preferred embodiment of the present invention, the extension assembly includes a slide, a moving block, a lead screw, and a drive motor. The slide is fixedly installed at the bottom of the multi-axis robotic arm, the moving block is fixedly installed at the middle position of the bottom of the slide, the lead screw is threadedly connected inside the moving block, and the drive motor is located on the left side of the lead screw, with its output end fixedly connected to the left end of the lead screw.

[0009] As a preferred embodiment of the present invention, sliders are fixedly installed on both the front and rear sides of the bottom of the slide table, and slide rails are slidably connected inside the sliders, with the slide rails fixedly installed on the top of the scissor lift.

[0010] As a preferred embodiment of the present invention, a motor frame is fixedly installed on one side of the drive motor, and the motor frame is fixedly installed on the top left side of the scissor lift.

[0011] As a preferred embodiment of the present invention, the left and right sides of the lead screw surface are rotatably connected to support blocks via bearings, and the support blocks are fixedly installed on the top of the scissor lift.

[0012] As a preferred embodiment of the present invention, limiting plates are fixedly installed around the top of the electronic scale, and the collection box is located between the limiting plates.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention, by setting up an electric tracked trolley, a scissor lift, a vision module, a multi-axis robotic arm, an extension component, and a collection mechanism, allows the vision module in the grasping mechanism to identify the location of edible fungi. The multi-axis robotic arm, in conjunction with the grippers, completes the harvesting of edible fungi. The extension component drives the multi-axis robotic arm to extend into the fungi rack. The collection mechanism includes an electronic scale and a collection box for collecting and monitoring the weight of the harvested edible fungi. This invention enables autonomous movement, lifting and positioning, automatic identification, precise harvesting, and automatic collection of the equipment. It solves the problems of reliance on manual operation, high labor intensity, low harvesting efficiency, and safety hazards associated with harvesting from high-rise fungi racks in existing edible fungi harvesting processes. It achieves the effects of improving harvesting efficiency, reducing labor costs, reducing the risks of manual climbing operations, and realizing integrated operation of edible fungi harvesting and collection.

[0014] 2. The present invention has an electrical terminal box fixedly installed on the top of the electric tracked vehicle. The electrical terminal box is equipped with a control system, a power module and a communication module for controlling the operation of the entire platform. An audible and visual alarm is fixedly installed on the top of the electrical terminal box. When the electronic scale detects that the weight of edible fungi in the collection box reaches the preset value, the control system in the electrical terminal box controls the audible and visual alarm to issue an alarm signal, reminding the staff to replace the collection box or transfer it in time. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the exploded structure of the protruding component of the present invention; Figure 3 This is a schematic diagram of the exploded structure of the collection mechanism of the present invention; Figure 4 This is a schematic diagram of the exploded structure of the gripping mechanism of the present invention.

[0016] In the diagram: 1. Electric tracked trolley; 2. Scissor lift; 3. Gripping mechanism; 31. Multi-axis robotic arm; 32. Mounting frame; 33. Gripper; 34. Vision module; 35. Extension assembly; 351. Slide table; 352. Moving block; 353. Lead screw; 354. Drive motor; 4. Collection mechanism; 41. Electronic scale; 42. Collection box; 43. Audible and visual alarm; 5. Electrical terminal box; 6. Slider; 7. Slide rail; 8. Motor frame; 9. Support block; 10. Limit plate. Detailed Implementation

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0018] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0019] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0020] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0021] Example 1, referring to Figure 1-4 The first embodiment of the present invention provides an integrated mechanized harvesting platform for edible fungi, including an electric tracked trolley 1, a scissor lift 2, a gripping mechanism 3, and a collecting mechanism 4. The scissor lift 2 is fixedly installed on the top of the electric tracked trolley 1, the gripping mechanism 3 is located on the front side of the top of the scissor lift 2, and the collecting mechanism 4 is located on the rear side of the top of the scissor lift 2.

[0022] The gripping mechanism 3 includes a multi-axis robotic arm 31, a mounting frame 32, a gripper 33, a vision module 34, and an extension assembly 35. The multi-axis robotic arm 31 is mounted on the top of the scissor lift 2. The mounting frame 32 is fixedly mounted on the free end of the multi-axis robotic arm 31. The gripper 33 is fixedly mounted on the mounting frame 32. The vision module 34 is fixedly mounted on one side of the mounting frame 32 and is used to identify the location, growth status, and harvesting location of edible fungi to improve harvesting accuracy.

[0023] The extension assembly 35 includes a slide 351, a moving block 352, a lead screw 353, and a drive motor 354. The slide 351 is fixedly installed at the bottom of the multi-axis robotic arm 31, and the moving block 352 is fixedly installed at the middle position of the bottom of the slide 351. The moving block 352 is threadedly connected to the lead screw 353. The output end of the drive motor 354 is fixedly connected to the lead screw 353. The drive motor 354 drives the lead screw 353 to rotate, causing the lead screw 353 to drive the moving block 352 and the slide to move along the length of the lead screw 353, thereby driving the multi-axis robotic arm 31 to extend into the mushroom rack or retract outward to expand the harvesting coverage area. In addition, when the lead screw 353 is in use, its surface is covered with a telescopic protective sleeve to prevent impurities from entering.

[0024] Furthermore, to improve the stability of the extension component 35 during operation, sliders 6 are fixedly installed on both the front and rear sides of the slide table 351. The sliders 6 are slidably connected within the slide rail 7, which is fixedly installed on the top of the scissor lift 2. The drive motor 354 is fixedly installed on the top of the scissor lift 2 via the motor frame 8, and the lead screw 353 is rotatably connected to the support block 9 via bearings. The support block 9 is fixedly installed on the top of the scissor lift 2 to ensure the stability and reliability of the lead screw 353 during transmission.

[0025] Furthermore, the collection mechanism 4 includes an electronic scale 41 and a collection box 42. The electronic scale 41 is fixedly installed on the rear side of the top of the scissor lift 2, and the collection box 42 is set on the top of the electronic scale 41 for receiving the harvested edible fungi. Limiting plates 10 are fixedly installed around the top of the electronic scale 41, and the collection box 42 is located between the limiting plates 10 to prevent the collection box 42 from shifting or tipping over during the movement of the equipment.

[0026] Furthermore, an electrical terminal box 5 is fixedly installed on the top of the electric tracked vehicle 1. The electrical terminal box 5 contains a control system, a power module, and a communication module, which are used to control the operation of the entire platform. An audible and visual alarm 43 is fixedly installed on the top of the electrical terminal box 5. When the electronic scale 41 detects that the weight of the edible fungi in the collection box 42 has reached the preset value, the control system in the electrical terminal box 5 controls the audible and visual alarm 43 to issue an alarm signal, reminding the staff to replace the collection box 42 or transfer it in time.

[0027] Working principle: In use, the entire platform is driven by an electric tracked trolley 1 to move along the mushroom cultivation channel. When the platform moves to the target mushroom rack position, the scissor lift 2 adjusts its height according to the layer of the mushroom to be harvested, causing the gripping mechanism 3 to move to the corresponding height. Subsequently, the vision module 34 performs image acquisition and recognition on the mushroom rack, obtaining the specific location and harvesting point information of the mushroom, and transmits the recognition results to the control system in the electrical terminal box 5. The control system in the electrical terminal box 5 controls the drive motor 354 in the extension assembly 35 to start, driving the lead screw 353 to rotate. The rotation of the lead screw 353 drives the moving block 352 to move, which in turn drives the sliding table 351 to move, thereby driving the multi-axis robotic arm 31 to extend into the mushroom rack, so that the gripper 33 can reach the target mushroom position. When the gripper 33 moves to the target position, the multi-axis robotic arm 31 adjusts its posture according to the information fed back by the vision module 34, and the gripper 33 grips the mature mushroom. The multi-axis robotic arm 31 clamps and harvests the fungi. After harvesting, the gripper 33 retracts to the top of the collection mechanism 4, releasing the fungi into the collection box 42, thus achieving integrated harvesting and collection. As harvesting continues, the electronic scale 41 monitors the weight of the fungi in the collection box 42 in real time. When the weight reaches the preset value, the electronic scale 41 transmits the detection signal to the control system in the electrical terminal box 5. The control system in the electrical terminal box 5 controls the audible and visual alarm 43 to issue a warning signal, reminding the staff to replace or transfer the collection box 42 in time. Through the cooperation of the electric tracked trolley 1, scissor lift 2, vision module 34, multi-axis robotic arm 31, extension component 35, and collection mechanism 4, automatic positioning, automatic harvesting, automatic collection, and weight monitoring of the fungi are achieved, effectively reducing the intensity of manual labor, improving harvesting efficiency, avoiding frequent climbing operations by staff, and improving the safety and automation level of the harvesting process.

[0028] It should be noted that the multi-axis robotic arm, vision module, drive motor, lead screw, slide rail, slider, electronic scale, audible and visual alarm and scissor lift are all existing mature technology products. Their specific structure, power supply method, control method, installation method and connection method can all be realized by conventional means in existing technology. Those skilled in the art can select and set according to actual use needs, so they will not be described in detail.

[0029] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An integrated mechanized harvesting platform for edible fungi, characterized in that: The device includes an electric tracked vehicle (1), a scissor lift (2), a gripping mechanism (3), and a collecting mechanism (4). The scissor lift (2) is fixedly installed on the top of the electric tracked vehicle (1). The gripping mechanism (3) is located on the front side of the top of the scissor lift (2), and the collecting mechanism (4) is located on the rear side of the top of the scissor lift (2). The gripping mechanism (3) includes a multi-axis robotic arm (31), a mounting frame (32), grippers (33), a vision module (34), and an extension arm. The multi-axis robotic arm (31) is mounted on the top of the scissor lift (2), the mounting frame (32) is fixedly mounted on the free end of the multi-axis robotic arm (31), the gripper (33) is fixedly mounted on the mounting frame (32), the vision module (34) is fixedly mounted on one side of the mounting frame (32), and the extension component (35) is located at the bottom of the multi-axis robotic arm (31); an electrical terminal box (5) is fixedly mounted on the top of the electric tracked trolley (1).

2. The integrated mechanized harvesting platform for edible fungi according to claim 1, characterized in that: The collection mechanism (4) includes an electronic scale (41) and a collection box (42). The electronic scale (41) is fixedly installed on the rear side of the top of the scissor lift (2). The collection box (42) is located on the top of the electronic scale (41). An audible and visual alarm (43) is fixedly installed on the top of the electrical terminal box (5).

3. The integrated mechanized harvesting platform for edible fungi according to claim 1, characterized in that: The extension assembly (35) includes a slide (351), a moving block (352), a lead screw (353), and a drive motor (354). The slide (351) is fixedly installed at the bottom of the multi-axis robotic arm (31). The moving block (352) is fixedly installed at the middle position of the bottom of the slide (351). The lead screw (353) is threadedly connected inside the moving block (352). The drive motor (354) is located on the left side of the lead screw (353), and its output end is fixedly connected to the left end of the lead screw (353).

4. The integrated mechanized harvesting platform for edible fungi according to claim 3, characterized in that: The slide (351) has a slider (6) fixedly installed on the front and rear sides of its bottom. The slider (6) is slidably connected to a slide rail (7), which is fixedly installed on the top of the scissor lift (2).

5. The integrated mechanized harvesting platform for edible fungi according to claim 3, characterized in that: A motor frame (8) is fixedly installed on one side of the drive motor (354), and the motor frame (8) is fixedly installed on the top left side of the scissor lift (2).

6. The integrated mechanized harvesting platform for edible fungi according to claim 3, characterized in that: The left and right sides of the lead screw (353) are rotatably connected to support blocks (9) via bearings, and the support blocks (9) are fixedly installed on the top of the scissor lift (2).

7. The integrated mechanized harvesting platform for edible fungi according to claim 2, characterized in that: Limiting plates (10) are fixedly installed around the top of the electronic scale (41), and the collection box (42) is located between each limiting plate (10).

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