Lucid ganoderma picking device

Abstract

The utility model relates to a ganoderma lucidum picking device which comprises a rack. A driving device, a lever mechanism and scissors are arranged on the rack; two ends of the lever mechanism are respectively connected to the driving device and the scissors; the driving device is fixedly arranged on the rack and used for driving the scissors to rotate and shear through the lever mechanism. The driving device, the lever mechanism and the scissors are arranged on the machine frame, the two ends of the lever mechanism are connected to the driving device and the scissors respectively, when ganoderma lucidum is picked, the scissors are driven by the lever mechanism to rotate and shear, and due to the amplification effect of the lever mechanism, even if a small driving device is adopted as an input end, the scissors can be driven to rotate. And larger shearing force can be obtained on the scissors at the output end, so that a motor with higher power does not need to be used for driving the scissors, and resources are favorably saved.

Description

Technical Field

[0001] The utility model relates to the technical field of ganoderma lucidum processing equipment, in particular to a ganoderma lucidum picking device. Background Art

[0002] Lingzhi, also known as Lingzhi grass, Shenzhi, Zhicao, Xiancao, Ruicao, is the whole plant of Ganoderma lucidum or Ganoderma rubrum of the Polyporaceae family. It is umbrella-shaped in appearance, with a kidney-shaped, semicircular or nearly circular cap. It is the fruiting body of the Polyporaceae fungus Lingzhi. It has the effects of replenishing qi and calming the mind, relieving cough and relieving asthma. It is used for dizziness, insomnia, palpitations, shortness of breath, and asthenia cough and asthma. Lingzhi is native to eastern Asia and has been cultivated artificially today.

[0003] At present, most indoor cultivation of Ganoderma lucidum adopts a grid-like distribution. The harvesting of Ganoderma lucidum fruiting bodies basically relies on pure manual cutting with scissors or hand picking, which is slow and labor-intensive. Therefore, people have developed a Ganoderma lucidum picking device, which uses a machine to replace manual cutting of Ganoderma lucidum to improve work efficiency.

[0004] In the prior art, the picking equipment used for picking ganoderma lucidum generally includes a frame, scissors and a motor. The motor is fixed to the frame, and during the picking process, the scissors are driven by the motor to rotate, and then the ganoderma lucidum is cut by the scissors.

[0005] It has the following technical problems:

[0006] In order to increase the shearing force of the scissors to ensure that the Ganoderma lucidum can be cut, people have to use a larger power motor to drive the scissors, resulting in a waste of resources. Utility Model Content

[0007] In view of the problems existing in the prior art, the purpose of the utility model is to provide a ganoderma lucidum picking device which can use a smaller driving device to cut the ganoderma lucidum and save resources.

[0008] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0009] A ganoderma lucidum picking device comprises a frame;

[0010] The frame is provided with a driving device, a lever mechanism and a scissors;

[0011] The two ends of the lever mechanism are respectively connected to the driving device and the scissors;

[0012] The driving device is fixed on the frame and is used for driving the scissors to rotate and shear through a lever mechanism.

[0013] Furthermore, the lever mechanism includes a shearing pinion and a shearing gear, which are meshed with each other and are respectively hinged to the frame; the driving device is connected to the shearing pinion, and the scissors include a corresponding fixed knife arm and a movable knife arm, the fixed knife arm is fixed to the frame, and the movable knife arm is fixed to the shearing gear.

[0014] Furthermore, the driving device is a shear steering gear.

[0015] Furthermore, a manipulator is arranged on the frame, and a shearing steering gear, a scissors, a shearing pinion and a shearing gear are all arranged at the end of the manipulator.

[0016] Further, the manipulator includes a main motor, a secondary motor, a main arm and a secondary arm;

[0017] The main arm is hinged to the frame, and the main motor is fixed to the frame and drivingly connected to the main arm, so as to drive the main arm to rotate on the frame;

[0018] The auxiliary arm is hinged to the main arm, and the auxiliary motor is fixed to the main arm and drivingly connected to the auxiliary arm, so as to drive the auxiliary arm to rotate on the main arm;

[0019] The shearing steering gear and the fixed knife arm are respectively fixed to the auxiliary arm, and the shearing small gear and the shearing large gear are respectively hinged to the auxiliary arm.

[0020] Furthermore, a fine-tuning steering gear is provided at the end of the auxiliary arm, the shearing steering gear and the fixed knife arm are respectively fixed to the fine-tuning steering gear, and the shearing pinion and the shearing gear are respectively hinged to the fine-tuning steering gear.

[0021] Furthermore, the frame is provided with a lifting mechanism, and the manipulator is fixedly connected to the lifting mechanism.

[0022] Furthermore, a partition storage rotating disk and a partition motor are provided on the frame; the partition storage rotating disk is arranged below the manipulator, and includes a plurality of storage grids of different sizes, and the plurality of storage grids are arranged in a circular ring-like manner. The partition motor is connected to the partition storage rotating disk and is used to drive the partition storage rotating disk to rotate horizontally so that the storage grids of the required size correspond to the position of the scissors above.

[0023] Furthermore, a control device and a camera are provided on the frame. The camera is used to detect the size and position of the Ganoderma lucidum to be cut. The control device is respectively connected to the camera and the partition motor, and is used to control the manipulator to move to the position of the Ganoderma lucidum to be cut for cutting according to the detection results of the camera, and to control the partition motor to rotate the storage grid of the required size to the bottom of the manipulator.

[0024] Furthermore, a moving platform is provided at the bottom of the frame, and the moving platform is equipped with Mecanum wheels for driving walking.

[0025] In general, the utility model has the following advantages:

[0026] A driving device, a lever mechanism and scissors are arranged on the frame, and the two ends of the lever mechanism are connected to the driving device and the scissors respectively. When picking ganoderma lucidum, the scissors are driven by the lever mechanism to rotate and shear. Due to the amplifying effect of the lever mechanism, even if a smaller driving device is used as the input end, a greater shearing force can be obtained on the scissors at the output end, thereby eliminating the need to use a larger power motor to drive the scissors, which is beneficial to saving resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the utility model from the first perspective;

[0028] Figure 2 It is a structural schematic diagram of the utility model from a second viewing angle;

[0029] Figure 3 It is a structural schematic diagram of the utility model from a third viewing angle;

[0030] Figure 4 It is a structural schematic diagram of a partition pinion and a partition gear;

[0031] Figure 5 It is a structural schematic diagram of the lifting motor and the partitioning motor;

[0032] Figure 6 This is a schematic diagram of the angle change of the main arm and the auxiliary arm when the manipulator moves horizontally;

[0033] Figure 7 This is a schematic diagram of the angle change of the main arm and the auxiliary arm when the manipulator moves longitudinally;

[0034] Figure 8 This is a schematic diagram of the robot's moving coordinates and angles;

[0035] In the figure:

[0036] 1-mobile platform, 11-Mecanum wheel, 12-planetary reduction motor;

[0037] 21-main arm, 22-first synchronous belt, 23-main motor, 24-auxiliary arm, 25-second synchronous belt, 26-auxiliary motor;

[0038] 31- shearing servo, 32- shearing small gear, 33- shearing large gear;

[0039] 4-scissors, 41-fixed knife arm, 42-movable knife arm;

[0040] 5-fine-tuning servo, 51-fine-tuning frame;

[0041] 61- flip steering gear, 62- flip frame, 63- receiving tray;

[0042] 71-lifting motor, 72-screw rod, 73-lifting platform;

[0043] 81-partition motor, 82-partition pinion, 83-partition gear, 84-partition storage rotating disk. DETAILED DESCRIPTION

[0044] The utility model will be further described in detail below.

[0045] like Figure 1-Figure 3 As shown, a ganoderma picking device includes a frame and a control device; the frame is provided with a driving device, a lever mechanism and a scissors 4; the two ends of the lever mechanism are respectively connected to the driving device and the scissors 4; the driving device is fixed to the frame, and is used to drive the scissors 4 to rotate and shear through the lever mechanism; the control device controls the action of the driving device.

[0046] Preferably, the control device is an Arduino2560 controller.

[0047] In this embodiment, a driving device, a lever mechanism and a pair of scissors 4 are arranged on the frame, and the two ends of the lever mechanism are respectively connected to the driving device and the pair of scissors 4. When picking ganoderma lucidum, the pair of scissors 4 are driven by the lever mechanism to rotate and shear. Due to the amplifying effect of the lever mechanism, even if a smaller driving device is used as the input end, a greater shearing force can be obtained on the pair of scissors 4 at the output end, thereby eliminating the need to use a larger power motor to drive the pair of scissors 4, which is beneficial to saving resources.

[0048] Specifically, the lever mechanism includes a shearing pinion 32 and a shearing gear 33, and the radius of the shearing gear 33 is larger than the radius of the shearing pinion 32. The shearing pinion 32 and the shearing gear 33 are meshed with each other and are respectively hinged to the frame; the driving device is connected to the shearing pinion 32, and the scissors 4 include a corresponding fixed knife arm 41 and a movable knife arm 42, the fixed knife arm 41 is fixed to the frame, and the movable knife arm 42 is fixed to the shearing gear 33, and the movable knife arm 42 and the shearing gear 33 rotate together around the same hinge axis.

[0049] Preferably, the driving device is a shearing servo 31, and the shearing gear 33 is a sector gear.

[0050] When picking ganoderma lucidum, firstly, the ganoderma lucidum to be cut is placed between the fixed blade arm 41 and the movable blade arm 42 of the scissors 4. The cutting servo 31 drives the cutting pinion 32 to rotate, the cutting pinion 32 drives the cutting gear 33 to rotate, the cutting gear 33 drives the movable blade arm 42 to rotate, the movable blade arm 42 moves toward the fixed blade arm 41, and then the ganoderma lucidum is cut by the joint action of the movable blade arm 42 and the fixed blade arm 41. Since the radius of the cutting gear 33 is larger than the radius of the cutting pinion 32, the output of the cutting servo 31 can be amplified, so that the movable blade arm 42 has a greater shearing force, thereby ensuring the shearing effect of the ganoderma lucidum.

[0051] In order to adapt to the ganoderma lucidum at different positions at the same height, a manipulator moving on a two-dimensional plane is provided on the frame, and the shearing steering gear 31, the scissors 4, the shearing pinion 32 and the shearing gear 33 are all arranged at the end of the manipulator. By moving the manipulator, the scissors 4 can shear the ganoderma lucidum at different positions.

[0052] Specifically, the manipulator includes a main motor 23, an auxiliary motor 26, a main arm 21 and an auxiliary arm 24;

[0053] The main arm 21 is hinged to the frame, and the main motor 23 is fixed to the frame and is driven and connected to the main arm 21 through the first synchronous belt 22, so as to drive the main arm 21 to rotate on the frame;

[0054] The auxiliary arm 24 is hinged to the main arm 21, and the auxiliary motor 26 is fixed to the main arm 21 and is driven and connected to the auxiliary arm 24 through the second synchronous belt 25, so as to drive the auxiliary arm 24 to rotate on the main arm 21;

[0055] The shearing steering gear 31 and the fixed blade arm 41 are respectively fixed to the auxiliary arm 24 , and the shearing pinion 32 and the shearing gear 33 are respectively hinged to the auxiliary arm 24 .

[0056] In order to achieve more precise movement of the manipulator, in this embodiment, a fine-tuning servo 5 and a fine-tuning frame 51 are provided at the end of the auxiliary arm 24. The fine-tuning servo 5 is connected to the fine-tuning frame 51 and is used to rotate the fine-tuning frame 51 to perform fine-tuning actions. The shearing servo 31 and the fixed knife arm 41 are respectively fixed to the fine-tuning frame 51, and the shearing pinion 32 and the shearing gear 33 are respectively hinged to the fine-tuning frame 51.

[0057] In order to pick Ganoderma lucidum at different heights, in this embodiment, a lifting mechanism is provided on the frame, and the manipulator is fixedly connected to the lifting mechanism.

[0058] Specifically, the lifting mechanism includes a lifting motor 71, a screw 72 nut, a slide rail, a slider, and a lifting platform 73. The slide rail is arranged vertically, and the slider is fixed to the lifting platform 73 and slides up and down along the slide rail. The slide rail slider is used on the axial guide to ensure accuracy while taking into account mechanical strength. The lifting motor 71 is fixed to the frame and driven to the screw 72 nut. The lifting platform 73 moves up and down on the frame in a straight line through the screw 72 nut, and the manipulator is set on the lifting platform 73.

[0059] Ganoderma lucidum of different sizes will be stored and processed at different levels. In order to store Ganoderma lucidum of different levels in different zones, the present embodiment is provided with a zone storage rotating disk 84 and a zone motor 81 on the frame; the zone storage rotating disk 84 is arranged under the manipulator, and includes a plurality of storage cells of different sizes, and the plurality of storage cells are arranged in a circular ring at intervals, such as Figure 4 , Figure 5 As shown, the partition motor 81 drives the partition large gear 83 connected to the partition storage rotating disk 84 through the partition small gear 82. By controlling the rotation of the partition motor 81, the partition storage rotating disk 84 is driven to rotate, so that the storage grid of the required size corresponds to the position of the scissors 4 above, so that different grades of Ganoderma lucidum are stored in each storage grid.

[0060] In order to reduce the damage to the cut ganoderma lucidum, the present embodiment is provided with a receiving tray 63, a turning frame 62 and a turning steering gear 61 on one side of the scissors 4. The turning steering gear 61 is fixed to the auxiliary arm 24 and connected to the receiving tray 63 through the turning frame 62. The receiving tray 63 is usually arranged horizontally to receive the cut ganoderma lucidum. After receiving the ganoderma lucidum, the turning steering gear 61 is actuated to drive the receiving tray 63 to tilt through the turning frame 62, so that the ganoderma lucidum on the tray slides down into the partition storage rotating disk 84. The partition storage rotating disk 84 is provided with an inclined slide plate, which can further reduce the damage to the ganoderma lucidum.

[0061] In addition, the fine-tuning frame 51 is provided with a posture sensor mounting hole, an infrared distance sensor mounting hole and a camera mounting hole, which are used to respectively mount the posture sensor, the infrared distance sensor and the camera (not shown in the figure). The camera is used to detect the size and position of the ganoderma to be cut, the infrared distance sensor is used to detect the distance between the current position and the ganoderma to be cut, and the posture sensor is used to detect the current posture of the manipulator. The control device controls the manipulator to adjust the posture according to the detection result and move to the position of the ganoderma to be cut for cutting, and at the same time controls the partition motor 81 to rotate the storage grid of the required size to the bottom of the manipulator, so that the cut ganoderma can be stored in the storage grid of the appropriate size.

[0062] In order to enhance the mobility of the ganoderma lucidum picking device, a mobile platform 1 is provided at the bottom of the frame in this embodiment, and the mobile platform 1 is equipped with a Mecanum wheel 11 for driving the walking. The Mecanum wheel 11 is driven to move by a planetary reduction motor 12, so that the ganoderma lucidum picking device can move freely in a narrow aisle.

[0063] In this embodiment, the manipulator adopts a two-axis manipulator. The manipulator end is controlled by two stepper motors, the main motor 23 and the auxiliary motor 26, to control the movement of the main arm 21 and the auxiliary arm 24 on the plane. The movement of the target point coordinates can be achieved by controlling the two-axis swing angle of the main arm 21 and the auxiliary arm 24. Figure 6 , Figure 7 If it is necessary to move a specific coordinate point of the robot, the rotational movement of the two-axis angle can be calculated through trigonometric functions.

[0064] The workbench coordinate system and the base coordinate system are set. The workbench coordinate system is also called the world coordinate system. It is a universal coordinate system. All the movements of the robot are performed relative to it. The base coordinate system is established with the rotation center of the main arm 21 as the origin. The coordinates in the world coordinate system are sent to the robot. The program calculates the coordinates in the base coordinate system through the positional relationship between the two coordinate systems, and then calculates the angle between the main arm 21 and the positive direction of the x-axis, and the angle between the auxiliary arm 24 and the main arm 21 through the mathematical model. Figure 8 After finding the angle, the next step is to drive the motor to the target angle. You can go in a straight line, in an arc, or directly reach the target angle without error compensation. These can be set in trajectory planning.

[0065] Based on trigonometric functions, it can be concluded that the coordinate system in formula (1) is in an angular relationship with the two robotic arms. Where a is the length of the main arm, and b is the length of the auxiliary arm 24. The two length values ​​have been determined. Then, formula (2) can be obtained by inverse trigonometric function calculation. It is only necessary to input the coordinate values ​​(Xp, Yp) to obtain the rotation angle (α) of the main arm 21 and the rotation angle (β) of the auxiliary arm 24, and then convert them into the number of rotation steps of the stepper motor.

[0066] Formula (1):

[0067] Xp=a cos(α)+b cos(α+β);

[0068] Yp=a sin(α)+b sin(α+β);

[0069] Formula (2):

[0070]

[0071]

[0072] The utility model has the following advantages:

[0073] Mecanum wheels 11 are used for movement, which enhances the flexibility of the picking robot. With a dexterous manipulator as the core linkage component, visual inspection assists in grading of ganoderma lucidum, so that picking and grading can be carried out simultaneously, realizing an automated harvesting and processing process. It reduces labor costs, improves work efficiency, and reduces damage to the harvested ganoderma lucidum during the picking process. It can be used in various ganoderma lucidum manufacturers, ganoderma lucidum growers and other places, generating huge economic benefits and having good promotion value.

[0074] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principle of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A ganoderma lucidum picking device, characterized in that: Including rack; The frame is provided with a driving device, a lever mechanism and a scissors; The two ends of the lever mechanism are respectively connected to the driving device and the scissors; The driving device is fixed on the frame and is used for driving the scissors to rotate and shear through a lever mechanism.

2. A ganoderma lucidum picking device according to claim 1, characterized in that: The lever mechanism includes a shearing pinion and a shearing gear, which mesh with each other and are respectively hinged to the frame; the driving device is connected to the shearing pinion, and the scissors include a corresponding fixed knife arm and a movable knife arm, the fixed knife arm is fixed to the frame, and the movable knife arm is fixed to the shearing gear.

3. A ganoderma lucidum picking device according to claim 2, characterized in that: The driving device is a shear servo.

4. The ganoderma lucidum picking device according to claim 3, characterized in that: A manipulator is arranged on the frame, and a shearing steering gear, a scissors, a shearing small gear and a shearing large gear are all arranged at the end of the manipulator.

5. The ganoderma lucidum picking device according to claim 4, characterized in that: The manipulator includes a main motor, an auxiliary motor, a main arm and an auxiliary arm; The main arm is hinged to the frame, and the main motor is fixed to the frame and drivingly connected to the main arm, so as to drive the main arm to rotate on the frame; The auxiliary arm is hinged to the main arm, and the auxiliary motor is fixed to the main arm and drivingly connected to the auxiliary arm, so as to drive the auxiliary arm to rotate on the main arm; The shearing steering gear and the fixed knife arm are respectively fixed to the auxiliary arm, and the shearing small gear and the shearing large gear are respectively hinged to the auxiliary arm.

6. The ganoderma lucidum picking device according to claim 5, characterized in that: A fine-tuning steering gear is arranged at the end of the auxiliary arm, the shearing steering gear and the fixed knife arm are respectively fixedly connected to the fine-tuning steering gear, and the shearing pinion gear and the shearing gearwheel are respectively hinged to the fine-tuning steering gear.

7. The ganoderma lucidum picking device according to claim 4, characterized in that: The frame is provided with a lifting mechanism, and the manipulator is fixedly connected to the lifting mechanism.

8. The ganoderma lucidum picking device according to claim 4, characterized in that: A partition storage rotating disk and a partition motor are provided on the frame; the partition storage rotating disk is arranged below the manipulator, and includes a plurality of storage cells of different sizes, and the plurality of storage cells are arranged in a circular ring-like manner. The partition motor is connected to the partition storage rotating disk and is used to drive the partition storage rotating disk to rotate horizontally so that the storage cells of the required size correspond to the position of the scissors above.

9. The ganoderma lucidum picking device according to claim 8, characterized in that: A control device and a camera are provided on the frame. The camera is used to detect the size and position of the Ganoderma lucidum to be cut. The control device is respectively connected to the camera and the partition motor, and is used to control the manipulator to move to the position of the Ganoderma lucidum to be cut for cutting according to the detection results of the camera, and to control the partition motor to rotate the storage grid of the required size to the bottom of the manipulator.

10. The ganoderma lucidum picking device according to claim 1, characterized in that: A mobile platform is provided at the bottom of the frame, and the mobile platform is equipped with Mecanum wheels for driving walking.

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