End effector for harvesting shiitake mushrooms

Abstract

The utility model relates to the technical field of mushroom harvesting, in particular to an end effector for mushroom harvesting, which comprises a base, the upper side of the base is rotatably connected with a shell, the side wall of the base is rotatably connected with a plurality of driving rollers, and the outer sides of the plurality of driving rollers are sleeved with tracks. According to the mushroom picking device, the double-shaft motor drives the clamping structure to clamp and pick mushroom stems, manual picking is not needed any more, more time and labor are saved, damage to the body of a worker caused by long-time hypha suction is avoided, the double-shaft motor drives the lifting structure to enable the clamping structure to move up and down, and picking efficiency is improved. Therefore, the lengths of the picked mushroom stems are roughly the same, the mushroom stems with the corresponding lengths can be reserved, and the mushrooms can continue to grow again.

Description

Technical Field

[0001] The utility model relates to the technical field of mushroom harvesting, in particular to an end effector used for mushroom harvesting. Background Art

[0002] Shiitake mushrooms are thick and tender, delicious, unique in aroma, and rich in nutrition. They are a food that can be used as both food and medicine. They have high nutritional, medicinal and health value, and the market price is not high. They are very popular among consumers and have a good market prospect.

[0003] At present, shiitake mushrooms are generally cultivated on mushroom sticks, and the picking operation is cumbersome. Because the picking amount is large and the picking time is short, it is currently basically done manually, which is time-consuming and labor-intensive, resulting in a decrease in production efficiency. Manual picking makes it difficult to ensure that the length of the mushroom sticks is uniform and flat. Manual picking requires staying in the mushroom house for a long time, and the floating hyphae may cause harm to the human body. The staff cannot carry out picking work for a long time. Utility Model Content

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

[0005] An end effector for mushroom harvesting, comprising:

[0006] A base, wherein the upper side of the base is rotatably connected to a shell, the side wall of the base is rotatably connected to a plurality of driving rollers, and the outer sides of the plurality of driving rollers are sleeved with crawlers;

[0007] A clamping structure is installed on the shell, and the clamping structure includes two fixed rods fixedly installed on the side walls of the shell, a slide plate is slidably connected to the outer sides of the two fixed rods, a movable plate is fixedly connected to the side walls of the slide plates, a fixed block is fixedly connected to the side walls of the movable plate, a bidirectional screw is slidably connected to the side walls of the fixed block, two clamping plates are threadedly connected to the outer sides of the bidirectional screw, the clamping plate is slidably connected to the fixed block, and a transmission structure is installed on the outer side of the bidirectional screw.

[0008] Preferably, the transmission structure includes a dual-axis motor fixed to the side wall of the shell, an output shaft of the dual-axis motor is fixedly installed with a drive shaft 1, the side wall of the shell is rotatably connected with a rotating shaft 1, a clamping assembly is installed between the rotating shaft 1 and the drive shaft 1, the side wall of the shell is rotatably connected to the rotating shaft, the rotating shaft and the outer side of the rotating shaft 1 are fixedly sleeved with a bevel gear 1, and the bevel gears 1 are meshed with each other, an extension shaft is slidably connected inside the rotating shaft, the extension shaft and the outer side of the bidirectional screw are fixedly sleeved with a bevel gear 2, and the bevel gears 2 are meshed with each other.

[0009] Preferably, a lifting structure is installed on the shell, and the lifting structure includes a driving shaft 2 fixedly installed on the other output shaft of the dual-axis motor, and the side wall of the shell is rotatably connected to the rotating shaft 2, and a clamping assembly identical to the outer side of the rotating shaft 1 is installed between the driving shaft 2 and the rotating shaft 2, and a threaded rod is rotatably connected to the side wall of the shell, and a bevel gear 3 is fixedly sleeved on the threaded rod and the outer side of the rotating shaft 2, and the bevel gears 3 are meshed with each other, and the threaded rod is threadedly connected to the movable plate.

[0010] Preferably, the clamping assembly includes a fixed plate fixedly installed on the outside of drive shaft one and drive shaft two, the side wall of the fixed plate is fixedly connected with a pin, the outside of rotating shaft one and rotating shaft two is slidably connected with a sliding sleeve, the side wall of the sliding sleeve has a plurality of notches distributed circumferentially, the notches match the pin, the outside of the sliding sleeve is connected with a connecting rod for common rotation, the side wall of the shell is fixedly connected with a support plate, the side wall of the support plate is fixedly connected with a hydraulic rod, and the top end of the hydraulic rod is fixedly connected to the connecting rod.

[0011] Preferably, a lighting lamp is fixedly mounted on the side wall of the shell.

[0012] Preferably, a pathfinder is fixedly mounted on the upper side of the shell.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] 1. In the utility model, the double-axis motor drives the clamping structure to clamp and pick the stems of shiitake mushrooms, and the machine automatically picks them, which no longer requires manual picking, saves time and effort, and no longer requires workers to stay in the mushroom room for a long time, thus avoiding long-term inhalation of mycelium and causing harm to the human body;

[0015] 2. In the utility model, the split control is performed through the card connection assembly, and the lifting structure is driven by the dual-axis motor so that the clamping structure can move up and down, so that the lengths of the picked mushroom stems are roughly the same, and mushroom stems of corresponding lengths can be left, so that the mushrooms can continue to grow again. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of an end effector for mushroom harvesting proposed by the utility model;

[0017] Figure 2 This is a side view of the three-dimensional structure of an end effector for mushroom harvesting proposed by the utility model;

[0018] Figure 3 This is a three-dimensional structural cross-sectional view of a base and a crawler of an end effector for mushroom harvesting proposed by the utility model;

[0019] Figure 4This is a schematic diagram of a clamping structure of an end effector for mushroom harvesting proposed by the utility model;

[0020] Figure 5 The utility model is a schematic diagram of a lifting structure of an end effector for mushroom harvesting.

[0021] In the figure: 1 base, 2 shell, 3 driving roller, 4 crawler, 5 fixed rod, 6 slide plate, 7 moving plate, 8 extension shaft, 9 fixed block, 10 bidirectional screw, 11 clamp, 12 double-axis motor, 13 driving shaft 1, 14 rotating shaft 1, 15 rotating shaft, 16 bevel gear 1, 17 bevel gear 2, 18 driving shaft 2, 19 rotating shaft 2, 20 threaded rod, 21 bevel gear 3, 22 fixed plate, 23 sliding sleeve, 24 latch, 25 connecting rod, 26 support plate, 27 hydraulic rod, 28 lighting lamp, 29 pathfinder. DETAILED DESCRIPTION

[0022] Reference Figure 1-Figure 5 , an end effector for mushroom harvesting, comprising:

[0023] Base 1, the upper side of the base 1 is rotatably connected to the shell 2, the side wall of the shell 2 is fixedly installed with a lighting lamp 28, the lighting lamp 28 can ensure that the device can continue to pick at night, and the upper side of the shell 2 is fixedly installed with a pathfinder 29, the pathfinder 29 is a device that uses specific technology (such as ultrasonic wave, heat-assisted detection, etc.) to detect the surrounding environment, obstacles or perform positioning and navigation. Through the recognition of the pathfinder 29, the device can bypass obstacles to work. This is a prior art and will not be described in detail. The side wall of the base 1 is rotatably connected to multiple driving rollers 3, and the outer side of the multiple driving rollers 3 is sleeved with a crawler 4;

[0024] The housing 2 is provided with a clamping structure, which includes two fixed rods 5 fixedly mounted on the side wall of the housing 2, a slide plate 6 is slidably connected to the outer side of the two fixed rods 5, a moving plate 7 is fixedly connected to the side wall of the slide plate 6, a fixed block 9 is fixedly connected to the side wall of the moving plate 7, a bidirectional screw 10 is slidably connected to the side wall of the fixed block 9, two clamping plates 11 are threadedly connected to the outer side of the bidirectional screw 10, the bidirectional screw 10 makes the clamping plates 11 move toward each other, the clamping plates 11 are slidably connected to the fixed block 9, a transmission structure is installed on the outer side of the bidirectional screw 10, and the transmission structure includes a fixed plate 11 fixed to the housing 2, a double-axis motor 12 is arranged on the side wall of the housing 2, an output shaft of the double-axis motor 12 is fixedly installed with a driving shaft 13, a rotating shaft 14 is rotatably connected to the side wall of the housing 2, a clamping assembly is installed between the rotating shaft 14 and the driving shaft 13, a rotating shaft 15 is rotatably connected to the side wall of the housing 2, a bevel gear 16 is fixedly sleeved on the outer side of the rotating shaft 15 and the bevel gears 16 are meshed with each other, an extension shaft 8 is slidably connected inside the rotating shaft 15, a bevel gear 2 17 is fixedly sleeved on the outer side of the extension shaft 8 and the bidirectional screw 10, and the bevel gears 2 17 are meshed with each other.

[0025] The housing 2 is provided with a lifting structure, which includes a second drive shaft 18 fixedly mounted on the other output shaft of the dual-axis motor 12, a second rotating shaft 19 rotatably connected to the side wall of the housing 2, a clamping assembly is installed between the second drive shaft 18 and the second rotating shaft 19, and the clamping assembly includes a fixed plate 22 fixedly mounted on the outside of the first drive shaft 13 and the second drive shaft 18, a latch 24 is fixedly connected to the side wall of the fixed plate 22, a sliding sleeve 23 is slidably connected to the outside of the first rotating shaft 14 and the second rotating shaft 19, and a plurality of notches are distributed circumferentially on the side wall of the sliding sleeve 23, and the notches Matching with the latch 24, there is a notch corresponding to the latch 24 no matter how the sleeve 23 rotates, the outer side of the sleeve 23 is connected to the connecting rod 25 for common rotation, the side wall of the shell 2 is fixedly connected to the support plate 26, the side wall of the support plate 26 is fixedly connected to the hydraulic rod 27, the top of the hydraulic rod 27 is fixedly connected to the connecting rod 25, the side wall of the shell 2 is connected to the threaded rod 20 for rotation, the threaded rod 20 and the outer side of the rotating shaft 2 19 are fixedly sleeved with a bevel gear 3 21, and the bevel gears 3 21 are meshed with each other, and the threaded rod 20 is threadedly connected to the movable plate 7.

[0026] In the utility model, first, the device moves to the corresponding position through the crawler 4, and then the double-axis motor 12 is turned on. At this time, the hydraulic rod 27 extends forward through the connecting rod 25 to make the sliding sleeve 23 on the outer side of the rotating shaft 19 slide forward, so that the pin 24 on the side wall of the fixed plate 22 at one end of the driving shaft 18 is inserted into the recess of the side wall of the sliding sleeve 23, and then the double-axis motor 12 drives the rotating shaft 19 to rotate through the driving shaft 18, and the rotating shaft 19 drives the threaded rod 20 to rotate through the bevel gear 3 21, and then drives the movable plate 7 connected to the outer side of the threaded rod 20. The movable plate 7 drives the clamping plate 11 to move up and down through the fixed block 9, so that the lengths of the picked mushroom rods are roughly the same, and the corresponding lengths of mushroom rods can be left, so that the mushrooms can continue to be picked again. When the mushrooms grow, the movement of the hydraulic rod 27 drives the sleeve 23 on the outside of the rotating shaft 14 to slide, so that the pin 24 on the side wall of the fixed disk 22 on the outside of the driving shaft 13 is inserted into the recess of the sleeve 23, so that the driving shaft 13 drives the rotating shaft 14 to rotate, and the rotating shaft 14 drives the rotating shaft 15 to rotate through the bevel gear 16, and the rotating shaft 15 drives the extension shaft 8 to rotate, and the extension shaft 8 drives the bidirectional screw 10 to rotate through the bevel gear 2 17. The rotation of the bidirectional screw 10 makes the clamping plates 11 move toward each other, so that the mushroom stems are clamped and picked, and manual picking is no longer required, which is more time-saving and labor-saving. It is also no longer necessary for the staff to stay in the mushroom room for a long time, avoiding the harm to the human body caused by long-term inhalation of mycelium.

Claims

1. An end effector for mushroom harvesting, comprising a base (1), characterized in that: The upper side of the base (1) is rotatably connected to a shell (2); the side wall of the base (1) is rotatably connected to a plurality of driving rollers (3); and the outer sides of the plurality of driving rollers (3) are sleeved with crawlers (4); The housing (2) is provided with a clamping structure, the clamping structure comprising two fixed rods (5) fixedly mounted on the side wall of the housing (2), the two fixed rods (5) being slidably connected to the outer sides of the two fixed rods (5), the side walls of the slides (6) being commonly fixedly connected to a movable plate (7), the side walls of the movable plate (7) being fixedly connected to a fixed block (9), the side walls of the fixed block (9) being slidably connected to a bidirectional screw (10), the outer sides of the bidirectional screw (10) being threadedly connected to two clamping plates (11), the clamping plates (11) being slidably connected to the fixed blocks (9), and a transmission structure being mounted on the outer sides of the bidirectional screw (10).

2. The end effector for mushroom harvesting according to claim 1, characterized in that: The transmission structure comprises a double-shaft motor (12) fixed to the side wall of a housing (2); an output shaft of the double-shaft motor (12) is fixedly mounted with a drive shaft 1 (13); a rotating shaft 1 (14) is rotatably connected to the side wall of the housing (2); a clamping assembly is mounted between the rotating shaft 1 (14) and the drive shaft 1 (13); a rotating shaft (15) is rotatably connected to the side wall of the housing (2); a bevel gear 1 (16) is fixedly sleeved on the outside of the rotating shaft (15) and the rotating shaft 1 (14), and the bevel gears 1 (16) are meshed with each other; an extension shaft (8) is slidably connected inside the rotating shaft (15); a bevel gear 2 (17) is fixedly sleeved on the outside of the extension shaft (8) and the bidirectional screw (10), and the bevel gears 2 (17) are meshed with each other.

3. The end effector for mushroom harvesting according to claim 1, characterized in that: The shell (2) is provided with a lifting structure, the lifting structure comprising a second drive shaft (18) fixedly mounted on the other output shaft of the dual-shaft motor (12); a second rotating shaft (19) is rotatably connected to the side wall of the shell (2); a clamping assembly identical to that on the outer side of the first rotating shaft (14) is mounted between the second drive shaft (18) and the second rotating shaft (19); a threaded rod (20) is rotatably connected to the side wall of the shell (2); a third bevel gear (21) is fixedly sleeved between the threaded rod (20) and the outer side of the second rotating shaft (19); the third bevel gear (21) is meshed with each other; and the threaded rod (20) is threadedly connected to the movable plate (7).

4. The end effector for mushroom harvesting according to claim 3, characterized in that: The clamping assembly comprises a fixed plate (22) fixedly mounted on the outside of the first drive shaft (13) and the second drive shaft (18); a latch pin (24) is fixedly connected to the side wall of the fixed plate (22); a sliding sleeve (23) is slidably connected to the outside of the first rotating shaft (14) and the second rotating shaft (19); a plurality of notches are circumferentially distributed on the side wall of the sliding sleeve (23); the notches match the latch pin (24); a connecting rod (25) is rotatably connected to the outside of the sliding sleeve (23); a support plate (26) is fixedly connected to the side wall of the housing (2); a hydraulic rod (27) is fixedly connected to the side wall of the support plate (26); a top end of the hydraulic rod (27) is fixedly connected to the connecting rod (25).

5. The end effector for mushroom harvesting according to claim 1, characterized in that: A lighting lamp (28) is fixedly mounted on the side wall of the housing (2).

6. The end effector for mushroom harvesting according to claim 1, characterized in that: A pathfinder (29) is fixedly mounted on the upper side of the housing (2).

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