Movable lifting type agaricus bisporus harvesting robot

Abstract

The utility model discloses a movable lifting type agaricus bisporus harvesting robot. Key components of the movable lifting type agaricus bisporus harvesting robot comprise a walking mechanism, a lifting mechanism, a mechanical arm picking mechanism and a root cutting and sorting mechanism. The mushroom picking machine is characterized in that the walking and lifting mechanism can conveniently move between mushroom racks in a workshop and achieve layered picking. The mechanical arm picking mechanism is used for accurately picking the identified and positioned agaricus bisporus, the root cutting and sorting mechanism is responsible for performing root cutting treatment on the picked agaricus bisporus and performing grading operation according to grading factors such as the diameter of the agaricus bisporus and whether the agaricus bisporus has brown spots or not, the agaricus bisporus is collected in different collecting baskets respectively, the subsequent grading process is simplified, and the grading efficiency is improved. The overall efficiency is improved; on the premise that the condition of the agaricus bisporus is guaranteed, the picking efficiency is improved, the integrated harvesting function of the agaricus bisporus is achieved, and therefore the harvesting process is simplified.

Description

Technical Field

[0001] The utility model relates to a harvesting machine for agricultural economic crops and an operating method thereof, in particular to a mobile lifting harvesting robot capable of completing Agaricus bisporus harvesting and an Agaricus bisporus harvesting method thereof. The utility model belongs to the technical field of agricultural harvesting. Background Art

[0002] Agaricus bisporus is an edible mushroom with the widest cultivation area, the largest production scale and the highest yield in the world. It is mainly cultivated in a bed frame method. However, large-scale factory production of Agaricus bisporus places high demands on the environment of the production workshop and requires a lot of manual participation, including picking, sorting and rooting of Agaricus bisporus. Because the Agaricus bisporus production workshop is damp and cold, it is not suitable for long-term manual labor, and there is a shortage of rural labor, resulting in low efficiency of manual harvesting. There are many studies on automated harvesting of Agaricus bisporus at home and abroad, but there are still a series of practical problems, including difficulty in layered picking, poor root cutting quality, difficulty in mushroom grading, unsmooth harvesting integration and low harvesting efficiency. In view of this, this paper proposes and designs an innovative mobile lifting Agaricus bisporus harvesting robot, aiming to solve the above problems and promote technological progress and efficiency improvement in the field of Agaricus bisporus harvesting. Utility Model Content

[0003] In order to improve the above problems, the utility model designs a mobile lifting Agaricus bisporus harvesting robot based on practical applications. The robot can efficiently perform layered picking and classified harvesting, improves the harvesting efficiency, is easy to operate, and effectively saves manpower and material resources.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] The utility model provides a mobile lifting type Agaricus bisporus harvesting robot, which is characterized in that it comprises a walking mechanism, a lifting mechanism, a root cutting and sorting mechanism, a mechanical arm picking mechanism and a control box; the lifting mechanism is fixedly mounted on the walking mechanism, and the root cutting and sorting mechanism, the mechanical arm picking mechanism and the control box are fixedly mounted on the lifting mechanism.

[0006] The walking mechanism is characterized in that it includes a mobile platform chassis, a driving wheel module and a steering module, wherein the driving wheel modules are respectively installed at the left front corner, the left rear corner, the right front corner and the right rear corner of the bottom plane of the mobile platform chassis; the driving wheel module includes a driving wheel bracket, a right front driving wheel and a left front driving wheel, wherein the driving wheel bracket is installed on the inner side of the right front driving wheel, the driving wheel bracket is connected to the mobile platform chassis, and the other driving wheels are installed in the same manner; the steering module includes a steering motor, a steering motor bracket, a small bevel gear, a large bevel gear, a central rotating shaft, a central fixture, a long axis tie rod, a self-lubricating bearing and a short axis tie rod, wherein one end of the short axis tie rod is connected to the driving wheel bracket, and the other end is connected to the long axis tie rod through a self-lubricating bearing, a steering motor bracket is installed between the right front driving wheel and the left front driving wheel, the steering motor is placed on the steering motor bracket, the small bevel gear connected to the steering motor is meshed with the large bevel gear, and the central fixture is installed on the central rotating shaft and connected to the long axis tie rod.

[0007] The lifting mechanism is characterized in that it includes a base module, a transmission module, a bracket module and a top plate module, the base module includes a lifting base, a base fixing pin, a UCP206 bearing, a positioning plate, and a lower limit plate, the lifting base is fixedly mounted on the mobile platform chassis, the transmission module includes a power rotating rod, a lifting drive motor, a small sprocket, a large sprocket, a rotating arm, a transmission pin, a connecting rod and a long connecting shaft, the bracket module includes a lower connecting shaft, a middle connecting shaft, an upper connecting shaft, a lower support tube, an upper support tube, a lower connecting rod and an upper connecting rod, the top plate module includes an upper limit plate, a top plate fixing pin and a top plate; at the left front corner and the left rear corner of the upper plane of the lifting base, the left end of the lower connecting rod is connected to the flanged self-lubricating bearing, and is fixed to the lifting base through the base fixing pin, the positioning plate is installed on the base fixing pin, and the lifting The driving motor is installed in the middle of the lifting base and is connected to the small sprocket. The small sprocket is connected to the large sprocket through a belt. The large sprocket is installed on the power rotating rod. Both ends of the power rotating rod are connected to the UCP206 bearing and fixed on the lifting base. One end of the rotating arm is installed on the power rotating rod, and the other end is connected to the connecting rod by a transmission pin. The other side of the connecting rod is installed on the long connecting shaft. The right front corner and the right rear corner of the upper plane of the lifting base are provided with limit grooves composed of lower limit plates. Both ends of the long connecting shaft are respectively connected to the deep groove ball bearing and the bearing sleeve and placed in the limit groove. The other end of the lower connecting rod is also installed on the long connecting shaft. The two lower connecting rods on the same side are cross-fixed by the lower connecting shaft, and the two upper connecting rods on the same side are cross-fixed by the upper connecting shaft. The lower connecting rods on the opposite side are connected by the lower support tube and the lower connecting shaft, and the upper connecting rods on the opposite side are connected by the upper support tube and the upper connecting shaft. The upper connecting rod and the lower connecting rod are fixed by a middle connecting shaft. A top plate is installed above the upper connecting rod. The left front corner and the left rear corner of the lower plane of the top plate are provided with limit grooves composed of upper limit plates. The two ends of the upper connecting rod are connected to the deep groove ball bearing and the bearing sleeve and placed in the limit groove. The other end of the upper connecting rod is fixed to the right front corner and the right rear corner of the lower plane of the top plate by a top plate fixing pin.

[0008] The root cutting and sorting mechanism is fixed on one side of the top plate, and is characterized in that it includes a root cutting module and a collection module. The root cutting module includes a root cutting electromagnet, a root cutting platform, a steering gear, a paddle and a guide groove. The collection module includes a bracket and a collection basket. The root cutting platform is fixed on the right side of the top plate, and a root cutting electromagnet is installed below the root cutting platform. A steering gear is embedded on one side of the root cutting platform, and the driving shaft of the steering gear is connected to the paddle. A guide groove is provided below the knife notch of the root cutting platform, and a bracket is installed in the middle and left side of the top plate, and a collection basket is fixed on the bracket.

[0009] The mechanical arm picking mechanism is fixed to the right rear corner of the top plate, and is characterized in that it includes a base module, a lifting module, a big arm module, a small arm module and an end module. The base module includes an upper baffle, a left baffle, a base lower plate, a mechanical arm base and a right baffle. The lifting module includes a lifting rod, a synchronous belt I, a lifting motor, a synchronous pulley I, a synchronous belt II, a transmission rod and a box-type slider. The big arm module includes a big arm side plate, a big arm lower plate, a big arm upper plate, a tensioning device, a synchronous belt III, a seat bearing, a limit switch, a big arm motor, a synchronous belt IV and a synchronous pulley II. The small arm module includes a synchronous belt V, a synchronous pulley III, a seat bearing, a small arm upper plate, an I-shaped part, a seat bearing, a small arm motor and a small arm lower plate. The end module includes a vacuum suction cup, a vacuum suction cup fixing seat, a depth camera, a camera fixing seat and a rotary Rotating motor, left baffle and right baffle are installed on both sides of the lower bottom plate of the base, synchronous belt I is installed on the inner side of the left baffle, synchronous belt II and lifting motor are installed on the outer side of the right baffle, synchronous pulley I is connected with the lifting synchronous pulley through a transmission rod, a lifting rod is installed between the lower bottom plate of the base and the upper baffle, a box-type slider is installed on the lifting rod, a pair of boom side plates are installed on the box-type slider, the boom upper plate and the boom lower plate are connected and installed with a seat bearing through the boom side plates, the forearm motor is installed at one end of the boom close to the base to drive the forearm to rotate, the forearm as a whole is fixed to the end of the boom through an optical axis and a seat bearing, the forearm body is composed of the forearm upper plate and the forearm lower plate through the seat bearing and an I-shaped piece, the rotating motor is installed at one end of the forearm close to the base, and the end effector is driven to rotate through the synchronous belt V, and the depth camera is installed at the end of the forearm through the camera fixing seat.

[0010] The control box is fixedly mounted on the left rear corner of the top plate.

[0011] Compared with the prior art, the utility model has the following beneficial effects:

[0012] (1) The utility model Agaricus bisporus harvesting robot adopts a modular design and can accurately harvest Agaricus bisporus growing on mushroom beds at different levels, thereby improving the efficiency and accuracy of the harvesting operation;

[0013] (2) The camera recognition system used in the utility model can accurately judge the shape, area and other appearance characteristics of Agaricus bisporus, reducing the picking error. Through optimal judgment, the graded harvesting of Agaricus bisporus is achieved, avoiding the inconvenience and limitations of manual grading operations in the traditional harvesting process;

[0014] (3) The root cutting and sorting mechanism adopted by the utility model can perform standardized root removal operations on the Agaricus bisporus after being picked by the mechanical arm, and ensure smooth cut surfaces, thereby achieving non-destructive picking of mushrooms, and storing the Agaricus bisporus after root removal in different grades, eliminating the need for manual grading, thereby improving the efficiency of the entire harvesting process; BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the structure of the picking mechanical arm of the utility model;

[0018] Figure 3 It is a side view schematic diagram of the picking mechanical arm structure of the utility model;

[0019] Figure 4 This is a schematic diagram of the structure of the root cutting and sorting mechanism of the utility model;

[0020] Figure 5 This is a schematic diagram of the lifting mechanism structure of the utility model;

[0021] Figure 6 This is a schematic diagram of the walking mechanism structure of the utility model;

[0022] In the figure: 1 walking mechanism, 11 mobile platform chassis, 12 driving wheel module, 12 steering module, 121 driving wheel bracket, 122 right front driving wheel, 123 left front driving wheel, 131 steering motor, 132 motor bracket, 133 small bevel gear, 134 large bevel gear, 135 center shaft, 136 center fixture, 137 long axis tie rod, 138 self-lubricating bearing, 139 short axis tie rod; 2 lifting mechanism, 21 base module, 22 transmission module, 23 bracket module, 24 top plate module, 211 lifting base, 212 base fixing pin, 213UCP206 bearing, 214 positioning plate, 215 lower limit plate, 221 power rotating rod, 222 lifting drive motor, 223 small sprocket, 224 large sprocket, 225 rotating arm, 226 transmission pin, 227 connecting rod, 228 long connecting shaft, 231 lower connecting shaft, 232 middle connecting shaft, 233 upper connecting shaft, 234 lower support tube, 235 upper support tube, 236 lower connecting rod, 237 upper connecting rod, 241 upper limit plate, 242 top plate fixing pin, 243 top plate; 3 root cutting and sorting mechanism, 31 root cutting module, 32 collection module, 311 Root cutting electromagnet, 312 root cutting platform, 313 steering gear, 314 paddle, 315 guide groove, 321 bracket, 322 collection basket; 4 mechanical arm picking mechanism, 41 base module, 42 lifting module, 43 big arm module, 44 small arm module, 45 end module, 411 upper baffle, 412 left baffle, 413 base bottom plate, 414 mechanical arm base, 415 right baffle, 421 lifting rod, 422 synchronous belt I, 423 lifting motor, 424 synchronous belt pulley I, 425 synchronous belt II, 426 transmission rod, 427 box slider, 431 big arm side 432 upper arm plate, 433 upper arm plate, 434 tensioning device, 435 synchronous belt III, 436 bearing seat, 437 limit switch, 438 upper arm motor, 439 synchronous belt IV, 4310 synchronous belt pulley II, 441 synchronous belt V, 442 synchronous belt pulley III, 443 bearing seat, 444 forearm upper plate, 445 I-shaped part, 446 bearing seat, 447 forearm motor, 448 lower arm plate, 451 vacuum suction cup, 452 vacuum suction cup fixing seat, 453 depth camera, 454 camera fixing seat, 455 rotating motor; 5 control box. DETAILED DESCRIPTION

[0023] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] It should be noted that in the following text description, the words "front", "rear", "left", "right", "up" and "down" refer to the directions in the drawings, and "inside" and "outside" refer to the directions toward or away from the geometric center of the specific component, respectively.

[0025] like Figures 1 to 6 As shown, the mobile lifting type Agaricus bisporus harvesting robot includes a walking mechanism 1, a lifting mechanism 2, a root cutting and sorting mechanism 3, and a mechanical arm picking mechanism 4. The walking mechanism 1 moves within an appropriate range on both sides of the mushroom bed frame. The lifting mechanism 2 is installed on the walking mechanism 1 to meet the lifting requirements of the robot during layered picking. The root cutting and sorting mechanism 3 is installed on the top plate 243 of the lifting mechanism 2 to perform root cutting and grading operations of Agaricus bisporus. The mechanical arm picking mechanism 4 is also installed on the top plate 243 of the lifting mechanism 2 to selectively pick Agaricus bisporus.

[0026] The walking mechanism 1 includes a mobile platform chassis 11, a driving wheel module 12 and a steering module 13. The mobile platform chassis 11 constitutes the chassis of the Agaricus bisporus picking robot and is used to fix various auxiliary mechanisms. The driving wheel module 12 is installed at the left front corner and the right front corner of the bottom plane of the mobile platform chassis 11, and a steering module 13 is provided. The mobile platform chassis 11 moves along the mushroom bed, and the function of multi-area picking is realized.

[0027] The driving wheel module 12 includes a driving wheel bracket 121, a right front driving wheel 122 and a left front driving wheel 123. The driving wheel bracket 121 is installed on the inner side of the right front driving wheel 122 and connected to the mobile platform chassis 11. The other driving wheels are installed in the same way and are used to drive the Agaricus bisporus picking robot to move in the mushroom bed workshop.

[0028] The steering module includes a steering motor 131, a steering motor bracket 132, a small bevel gear 133, a large bevel gear 134, a central rotating shaft 135, a central fixture 136, a long axis tie rod 137, a self-lubricating bearing 138 and a short axis tie rod 139. One end of the short axis tie rod 139 is connected to the driving wheel bracket 121, and the other end is connected to the long axis tie rod 137 through the self-lubricating bearing 138. The steering motor bracket 132 is installed between the right front driving wheel 122 and the left front driving wheel 123, and the steering motor 131 is placed on the steering motor bracket 132. The small bevel gear 133 is meshed with the large bevel gear 134. The central fixture 136 is installed on the central rotating shaft 135 and connected to the long axis tie rod 137. Under the drive of the steering motor 131, the steering function of the walking mechanism 1 is realized.

[0029] The lifting mechanism 2 includes a base module 21, a transmission module 22, a support module 23 and a top plate module 24. The base module 21 is fixed on the mobile platform chassis 11, and the transmission module 22 is installed on the base module 21. The transmission module 22 drives the support module 23 through its power system, thereby realizing the lifting function of the top plate module 24, making it more convenient to harvest the Agaricus bisporus grown in multiple layers.

[0030] The base module 21 includes a lifting base 211, a base fixing pin 212, a UCP206 bearing 213, a positioning plate 214 and a lower limiting plate 215. At the left front corner and the left rear corner of the upper plane of the base 211, the left end of the lower connecting rod 236 is connected to the flanged self-lubricating bearing and is fastened to the lifting base 211 through the base fixing pin 212. The positioning plate 214 is installed on the base fixing pin 212. The lower limiting plate 215 is provided at the right front corner and the right rear corner of the upper plane of the lifting base 211, forming a limiting groove to improve the stability of the lifting mechanism 2.

[0031] The transmission module 22 includes the following components: a power rotating rod 221, a lifting drive motor 222, a small sprocket 223, a large sprocket 224, a rotating arm 225, a transmission pin 226, a connecting rod 227 and a long connecting shaft 228. The lifting drive motor 222 is installed in the middle of the base 211 and is connected to the small sprocket 223. The small sprocket 223 is connected to the large sprocket 224 through a belt. The large sprocket 224 is installed on the power rotating rod 221, and the two ends of the power rotating rod 221 are connected to the UCP206 bearing 213 and fixed to the base 211. One end of the rotating arm 225 is installed on the power rotating rod 221, and the other end is connected to the connecting rod 227 through the transmission pin 226. The other side of the connecting rod is installed on the long connecting shaft 228, and the two ends of the long connecting shaft 228 are respectively connected to the deep groove ball bearing and the bearing sleeve, and placed in the limit groove. The movement of the long connecting shaft 228 in the limiting groove drives the extension and retraction of the bracket module 23, thereby realizing the rising and falling of the lifting mechanism 2.

[0032] The support module includes a lower connecting shaft 231, a middle connecting shaft 232, an upper connecting shaft 233, a lower supporting tube 234, an upper supporting tube 235, a lower connecting rod 236 and an upper connecting rod 237. The other end of the lower connecting rod 236 is mounted on the long connecting shaft 228, and the two lower connecting rods 236 on the same side are cross-fixed through the lower connecting shaft 231. Similarly, the two upper connecting rods 237 on the same side are cross-fixed through the upper connecting shaft 233. The lower connecting rod on the opposite side is connected to the lower connecting shaft 231 through the lower supporting tube 234, and the upper connecting rod 237 on the opposite side is connected to the upper connecting shaft 233 through the upper supporting tube 235. The upper connecting rod 237 is fixed to the lower connecting rod 236 through the middle connecting shaft 232 to provide stable support.

[0033] The top plate module 24 includes an upper limit plate 241, a fixing pin 242 and a top plate 243. An upper connecting rod 237 is connected below the top plate 243, and a limiting groove formed by the upper limit plate 241 is provided at the left front corner and the left rear corner of the lower plane of the top plate 243. The two ends of the upper connecting rod 237 are connected to the deep groove ball bearing and the bearing sleeve and placed in the limiting groove. The other end of the upper connecting rod 237 is fixed to the right front corner and the right rear corner of the lower plane of the top plate 243 by the fixing pin 242. By the rise or fall of the top plate 243, the robotic arm picking mechanism 4 is more convenient when harvesting the Agaricus bisporus planted in multiple layers.

[0034] The root cutting and sorting mechanism 3 includes a root cutting module 31 and a collecting module 32. The root cutting module 31 is fixedly mounted on the right side of the top plate 243 of the lifting mechanism 2, and is used to remove the roots of the Agaricus bisporus after being picked by the robot arm, and to ensure a smooth cut surface. The collecting module 32 is fixedly mounted on the left side of the top plate 243 of the lifting mechanism 2, and is used to collect the Agaricus bisporus after the roots are removed according to the grading standard.

[0035] The root cutting module 31 includes a root cutting electromagnet 311, a root cutting platform 312, a steering gear 313, a paddle 314 and a guide groove 315. The root cutting electromagnet 311 is fixedly mounted on the right side of the top plate 243, and the root cutting platform 312 is mounted above it. A steering gear 313 is mounted on one side of the root cutting platform 312, and the driving shaft of the steering gear 313 is connected to the paddle 314, which is used to push the Agaricus bisporus to the root cutting position, thereby reducing the problem of uneven cut surface caused by shaking during the root cutting process. A guide groove 315 is provided below the root cutting platform 312, which is used to collect the cut waste roots into a trash can.

[0036] The collecting module 32 includes a bracket 321 and a collecting basket 322 . The bracket 321 is installed at the middle and left side of the top plate 243 , and the collecting basket 322 is installed on the bracket 321 for collecting Agaricus bisporus of different quality specifications.

[0037] The robotic arm picking mechanism 4 includes a base module 41, a lifting module 42, a large arm module 43, a small arm module 44 and an end module 45. The base module 41 is fixedly mounted on the top plate 243 of the lifting mechanism 2, and is used to fix the position of the robotic arm picking mechanism 4. The lifting module 42 is installed inside the base module 41, and is used to control the lifting and lowering of the robotic arm to complete the corresponding picking action. The large arm module 43 and the small arm module 44 are installed in the lifting module, and are used to perform picking operations within a certain range in the horizontal direction. The end module 45 is fixedly mounted at the end of the small arm module 44, and is used to perform functions such as image recognition, positioning and picking.

[0038] The base module 41 includes an upper baffle 411 , a left baffle 412 , a base lower plate 413 , a robot base 414 , and a right baffle 415 . A left baffle 412 and a right baffle 415 are respectively installed on both sides of the base lower plate 413 .

[0039] The lifting module 42 includes a lifting rod 421, a synchronous belt I 422, a lifting motor 423, a synchronous pulley I 424, a synchronous belt II 425, a transmission rod 426 and a box-type slider 427. The synchronous belt I 422 is installed on the inner side of the left baffle 412, and the synchronous belt II 425 and the lifting motor 423 are installed on the outer side of the right baffle 415. The transmission rod 426 connects the lifting synchronous pulley and the synchronous pulley I 424. The lifting rod 421 is installed between the lower bottom plate 413 of the base and the upper baffle 411. The box-type slider 427 is installed on the lifting rod 421 for controlling the lifting and lowering action of the robotic arm.

[0040] The boom module 43 includes a boom side plate 431, a boom lower plate 432, a boom upper plate 433, a tensioning device 434, a synchronous belt III 435, a seat bearing 436, a limit switch 437, a boom motor 438, a synchronous belt IV 439 and a synchronous pulley II 4310. A pair of boom side plates 431 are installed on the box-type slider 427, and the boom upper plate 433 and the boom lower plate 432 are connected and installed with the seat bearing 436 through the boom side plates 431.

[0041] The arm module 44 includes a synchronous belt V 441, a synchronous pulley III 442, a seat bearing 443, an arm upper plate 444, an I-shaped piece 445, a seat bearing 446, an arm motor 447 and an arm lower plate 448. The arm motor 447 is installed at one end of the arm close to the base, and is used to drive the arm to rotate. The arm as a whole is fixed to the end of the arm through an optical axis and a seat bearing 443. The arm body is composed of an arm upper plate 444 and an arm lower plate 448 through a seat bearing 446 and an I-shaped piece 445. The rotary motor 455 is installed at one end of the arm close to the base, and drives the end effector to rotate through the synchronous belt V 441.

[0042] The end module 45 includes a vacuum suction cup 451, a vacuum suction cup fixing seat 452, a depth camera 453, a camera fixing seat 454 and a rotating motor 455. The depth camera 453 is installed at the end of the forearm through the camera fixing seat 454, and is used to realize image recognition and positioning within a preset picking range.

[0043] The mobile lifting Agaricus bisporus harvesting robot also includes a control box 5 in which a main control module is installed. The main control module includes components such as an edge device JETSON NX and an execution controller, and is used to control the robot to complete the harvesting process.

[0044] The utility model discloses a harvesting method of a mobile lifting type Agaricus bisporus harvesting robot, comprising the following steps:

[0045] Step 1, patrol process: by controlling the driving wheel module 12 and the steering module 13, the walking mechanism 1 moves along the pre-planned path to ensure accurate parking at the target mushroom rack and meet the requirements of picking in different areas.

[0046] Step 2, perception process: The 3D data of Agaricus bisporus in a specific area of ​​the mushroom bed is collected by the depth camera 453. The edge device JETSON NX determines the spatial picking position of the Agaricus bisporus through analysis and calculation, and uses image processing technology to screen out the targets to be picked. The screening is mainly based on the shape and size of the Agaricus bisporus cap and whether there are brown spots.

[0047] Step 3, picking process: the arm module 43 and the arm module 44 of the mechanical arm picking mechanism 4 are driven by the arm motor 438 and the arm motor 447 to move the vacuum suction cup 451 at the end to the growing position of the Agaricus bisporus. The mechanical arm picking mechanism 4 is driven by the lifting motor 423 to make the vacuum suction cup 451 at the end drop to a height just adsorbed to the mushroom cap of the Agaricus bisporus. The air pump is started, and the vacuum suction cup 451 adsorbs the Agaricus bisporus, separates the Agaricus bisporus from the mushroom bed and lifts it up. The mechanical arm picking mechanism 4 transfers the Agaricus bisporus to the knife notch of the root cutting platform 312 to complete the picking action.

[0048] Step 4, root cutting process: the root cutting electromagnet 311 works, driving the blade to slide horizontally, completing the root cutting action of the Agaricus bisporus placed on the root cutting platform 312, and the cut roots will fall into the root collecting groove directly below along the guide groove 315, thus realizing the root cutting action of the Agaricus bisporus root by the root cutting device.

[0049] Step 5, grading process: the upper arm motor 438 and the lower arm motor 447 drive the mechanical arm picking mechanism 4 to carry the cut root Agaricus bisporus, classify them according to their size according to the program setting, and transfer them to different collection baskets 322 to complete the classification and collection action.

[0050] Step 6, layer changing process: after the Agaricus bisporus that meets the requirements in a layer of the mushroom bed frame is picked, the small sprocket 223 drives the large sprocket 224 to rotate by controlling the lifting drive motor 222, and the large sprocket 224 drives the power lever 221 to rotate, and the rotation of the power lever 221 drives the flanged self-lubricating bearing to slide in the limit groove, and through this sliding movement, the top plate 243 is driven to rise or fall, so as to realize the overall lifting and lowering of the root cutting and sorting mechanism 3 and the mechanical arm picking mechanism 4, and complete the layer changing operation.

[0051] Obviously, the whole process is highly automated and intelligent, and can efficiently pick mushrooms in various spatial locations. It has excellent operating efficiency, stable and reliable operation, significantly reduces labor costs, and has reached a high level of intelligence.

Claims

1. A mobile lifting Agaricus bisporus harvesting robot, characterized in that: The invention comprises a walking mechanism (1), a lifting mechanism (2), a root cutting and sorting mechanism (3) and a mechanical arm picking mechanism (4); wherein the lifting mechanism (2) is fixedly mounted on the walking mechanism (1), and the root cutting and sorting mechanism (3) and the mechanical arm picking mechanism (4) are fixedly mounted on the lifting mechanism (2); the root cutting and sorting mechanism (3) comprises a root cutting electromagnet (311), a root cutting platform (312), a steering gear (313), a paddle (314), a guide groove (315), a bracket (321 ) and a collecting basket (322); a mechanical arm picking mechanism (4) is installed at the right rear corner of the top plate (243); a root cutting module (31) is fixed on the right side of the top plate (243); a steering gear (313) is installed on one side of the root cutting platform (312); a driving shaft of the steering gear (313) is connected to a paddle (314); a guide groove (315) is provided below the root cutting platform (312); a bracket (321) is installed on the left side and the front side of the top plate (243); and a collecting basket (322) is fixed on the bracket (321).

2. A mobile lifting Agaricus bisporus harvesting robot according to claim 1, characterized in that The guide groove (315) is installed below the root cutting platform (312) and connected to the top plate (243), and the waste roots can be collected by the guide groove (315).

3. The mobile lifting Agaricus bisporus harvesting robot according to claim 1, characterized in that: The collection basket (322) can collect Agaricus bisporus entities of three specifications, thereby achieving graded collection.

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