Self-propelled full-automatic water injection robot for mushroom sticks

Abstract

The utility model discloses a self-propelled full-automatic water injection robot for mushroom sticks. The self-propelled full-automatic water injection robot comprises an edible mushroom growing frame, a chassis walking system, a clamping jaw moving frame, a waterway system and a mushroom stick clamping system, the edible mushroom growing frame is used in cooperation with the full-automatic water injection robot for the mushroom sticks. A walking auxiliary camera of the chassis walking system obtains a transverse guide line and a longitudinal guide line laid on the ground, and an insertion needle auxiliary camera identifies a mushroom stick water injection insertion point; the clamping jaw movement frame is used for adjusting the distances among the four groups of clamping devices; the mushroom stick clamping system is used for clamping, weighing and placing mushroom sticks; and the water path system injects a target amount of water into the clamped mushroom sticks. The self-propelled full-automatic water injection robot for the mushroom sticks can adapt to different mushroom stick placement intervals, can automatically clamp and weigh to determine the target water injection rate of each mushroom stick, can automatically complete the water injection action, can accurately evaluate the required water injection rate, and has practical significance and good application prospects.

Description

Technical Field

[0001] The utility model relates to the field of mushroom stick water injection operation, in particular to a self - walking fully automatic mushroom stick water injection robot. Background Technique

[0002] China is a large country in terms of fungal drug resources, production, consumption and export. Fungal drugs are an important part of the Chinese herbal medicine industry. Most varieties of edible and medicinal fungi such as shiitake mushrooms, auricularia auricula, and tremella fuciformis have certain medicinal values. Mushroom stick water injection is an essential link in the process of edible mushroom cultivation. The control of the water injection volume determines the yield and quality of edible mushrooms. If too much water is injected, the yield of edible mushrooms will be low, the quality will be poor, and even problems such as rotten sticks and scattered sticks will occur; if too little water is injected, the water content of the mushroom sticks is too low, and the mycelium will lose water and die. In traditional mushroom stick water injection technology, the mushroom sticks need to be taken down from the cultivation rack for water injection or soaking, and the control of the water injection volume during the water injection process is not accurate enough. Either the water injection time is manually controlled to control the injected water volume, or the mushroom sticks need to be weighed individually to determine the required water volume, and the steps are relatively cumbersome and the efficiency is too low.

[0003] At present, there is no self - walking fully automatic mushroom stick water injection robot at home and abroad that can complete autonomous walking, adapt to different mushroom stick placement intervals, automatically clamp and weigh to determine the water injection volume, and automatically complete the water injection process. Therefore, a self - walking fully automatic mushroom stick water injection robot is designed. This self - walking fully automatic mushroom stick water injection robot can adapt to different mushroom stick placement intervals, automatically clamp and weigh to determine the target water injection volume of each mushroom stick, automatically complete the water injection action, and accurately evaluate the required water injection volume, which has practical significance and good application prospects. Summary of the Utility Model

[0004] In view of the above deficiencies, the utility model provides a self - walking fully automatic mushroom stick water injection robot to solve the related problems raised in the above background technique.

[0005] In order to achieve the above technical objectives and effects, the technical solution adopted by the utility model is: to provide a self - walking fully automatic mushroom stick water injection robot, which includes: a chassis walking system 1, a claw movement frame 2, a water circuit system 3, and a mushroom stick clamping system 4;

[0006] The chassis walking system 1 walks between the edible mushroom growth racks used in cooperation. The claw movement frame 2 and the water circuit system 3 are installed on the chassis walking system 1, and the mushroom stick clamping system 4 is installed below the claw movement frame 2; the edible mushroom growth rack includes a growth steel frame, a horizontal guiding line, and a vertical guiding line.

[0007] Further, the chassis walking system 1 includes a chassis frame 11, a lifting arm 12, a pulley block 13, a driving motor 14, a universal wheel 15, an interactive screen 16, and a walking auxiliary camera 17;

[0008] The lifting arm 12 is installed on the chassis frame 11 and is lifted through the track on the chassis frame 11; the driving motor 14 and the universal wheel 15 are installed at the bottom of the chassis frame 11, and the two driving motors 14 complete steering through differential; the pulley block 13 is fixed to the bottom of the lifting arm 12; the interactive screen 16 is installed at the rear side of the chassis frame 11 for human-machine interaction; the walking auxiliary camera 17 is installed at the front side of the chassis frame 11 for identifying the lateral guiding line and the longitudinal guiding line.

[0009] Further, the jaw movement frame 2 includes a longitudinal movement device 21, a connecting frame 32, a lateral telescopic device 23, and a pin inserting device 24;

[0010] The longitudinal movement device 21 includes a longitudinal movement rack 2101, a longitudinal movement gear 2102, a longitudinal driving motor 2103, a longitudinal driving reducer 2104, and a pulley track 2105; the longitudinal driving reducer 2104 is fixed to the bottom of the lifting arm 12; the longitudinal movement gear 2102 and the longitudinal driving motor 2103 are installed on the longitudinal driving reducer 2104; the longitudinal movement rack 2101 and the pulley track 2105 are fixed to the connecting frame 22, and the longitudinal movement rack 2101 and the longitudinal movement gear 2102 cooperate to realize the longitudinal movement of the jaw movement frame 2.

[0011] Further, the connecting frame 22 includes a steel frame 2201, a lateral movement slide rail 2202, and a longitudinal movement slide rail 2203; the lateral movement slide rail 2202 is fixed to the longitudinal movement slide rail 2203; the longitudinal movement slide rail 2203 is fixed to the steel frame 2201;

[0012] The lateral telescopic device 33 includes a lateral telescopic driving motor 2301, a lateral telescopic transmission device 2302, a telescopic scissor mechanism 2303, a lateral telescopic slide rail 2304, a slider 2305, and a scissor mechanism slide rail 2306; the lateral telescopic driving motor 2301 is fixed to the longitudinal movement slide rail 2203; the lateral telescopic transmission device 2302 is installed on the lateral telescopic driving motor 2301 and the lateral telescopic slide rail 2304 for adjusting the telescopic position of the telescopic scissor mechanism 2303; the telescopic scissor mechanism 2303 is installed on the scissor mechanism slide rail 2306 and the center slide rail 2307 through the slider 2305; the center slide rail 2307 is fixed to the lateral movement slide rail 2202.

[0013] Further, the pin inserting device 24 includes a telescopic push rod 2401, a pin inserting auxiliary camera 2402, a pin inserting slide rail 2403, a push rod connecting piece 2404, a water injection needle connecting piece 2405, and a longitudinal movement slide rail connecting piece 2406; the telescopic push rod 2401 is fixed on the transverse movement slide rail 2202 through a slider 2305 to drive the longitudinal movement of the pin inserting slide rail 2403; the pin inserting auxiliary camera 2402 is fixed on the pin inserting slide rail 2403 and is used for assisting in adjusting the inserting point of the mushroom stick; the push rod connecting piece 2404 connects the telescopic push rod 2401 and the pin inserting slide rail 2403 through a slider 2305; the water injection needle connecting piece 2405 is installed on the transverse telescopic slide rail 2304 through a slider 2305; the longitudinal movement slide rail connecting piece 2406 is installed on the longitudinal movement slide rail 2203 through a slider.

[0014] Further, the water circuit system 3 includes a water storage device 31, a water pipe 32, a solenoid valve 33, a flow sensor 34, and a water injection needle 35; the water storage device 31 is fixed on the chassis frame 11; the solenoid valve 33 and the flow sensor 34 are fixed on the lifting arm 12; the water storage device 31 includes a water tank 3101 and a water pump 3102, and the water pump 3102 is installed in the water tank 3101; the water pipe 32 includes a water inlet pipe 3201 and a water outlet pipe 3202; the water pump 3102, the water inlet pipe 3201, the solenoid valve 33, the flow sensor 34, the water outlet pipe 3202, and the water injection needle 35 are connected in sequence.

[0015] Further, the mushroom stick clamping system 4 includes a thin film pressure sensor 41, a flexible component 42, a jaw lifting device 43, a weighing sensor 44, a jaw body 45, and a baffle 46; the jaw lifting device 43 includes a lifting drive motor 4301, a transmission gear set 4302, a transmission lead screw 4303, and a lifting frame 4304; the lifting drive motor 4301 is fixed on the lateral telescopic slide rail 2304; the transmission gear set 4302 is installed on the lifting drive motor 4301; the transmission lead screw 4303 is fixed on the transmission gear set 4302; the lifting frame 4304 cooperates with the transmission lead screw 4303 to achieve lifting; the jaw body 45 includes a drive servo 4501, a main jaw 4502, and a driven jaw 4503; the drive servo 4501 is fixed on the weighing sensor 44; the main jaw 4502 is installed on the output shaft of the drive servo 4501; the driven jaw 4503 cooperates with the main jaw 4502 to complete the clamping action; the thin film pressure sensor 41 is installed on the clamping contact surface of the main jaw 4502 for controlling the clamping force of the jaw body 45; the flexible component 42 is installed on the clamping contact surfaces of the main jaw 4502 and the driven jaw 4503 to prevent the surface of the mushroom stick from being damaged; the jaw body 45 is installed on the lifting frame 4304 through the weighing sensor 44 for weighing the mass of the mushroom stick; the baffle 56 is fixed on the outer jaw body 45.

[0016] Further, the weighing sensor 44 weighs the mass of each picked-up mushroom stick, and the controller calculates the target water injection amount of each picked-up mushroom stick, where the target water injection amount is equal to the target mass of the mushroom stick after water injection minus the mass of the picked-up mushroom stick.

[0017] The beneficial effects of the present utility model include:

[0018] Autonomously walking between the edible mushroom growth racks with the assistance of a walking auxiliary camera reduces labor costs. Automatically clamping and weighing to determine the water injection amount through the cooperation of the weighing sensor and the jaws, realizing different water injection amounts for mushroom sticks with different moisture contents, improving the yield and quality of edible mushrooms, and reducing water resource waste. Adjusting the jaw movement frame to adapt to different spacing of mushroom stick placements and automatically completing the water injection process improves the efficiency of the water injection link for edible mushroom sticks. Description of the Drawings

[0019] Figure 1 is the overall structural schematic diagram of the self-propelled mushroom stick full-automatic water injection robot of the present utility model.

[0020] Figure 2 is the front-side structural schematic diagram of the chassis walking system of the present utility model.

[0021] Figure 3 is the rear-side structural schematic diagram of the chassis walking system of the present utility model.

[0022] Figure 4 It is a schematic diagram of the overall structure of the jaw movement frame of the present utility model.

[0023] Figure 5 It is a schematic diagram of the longitudinal movement device structure of the jaw movement frame of the present utility model.

[0024] Figure 6 It is a schematic diagram of the connection frame structure of the jaw movement frame of the present utility model.

[0025] Figure 7 It is a schematic diagram of the lateral telescopic device and the pin inserting device of the jaw movement frame of the present utility model.

[0026] Figure 8 It is a schematic diagram of the water circuit system structure of the present utility model.

[0027] Figure 9 It is a schematic diagram of the mushroom stick clamping system structure of the present utility model.

[0028] Figure 10 It is a schematic diagram of the jaw lifting device of the mushroom stick clamping system of the present utility model.

[0029] Figure 11 It is a schematic diagram of the jaw body of the mushroom stick clamping system of the present utility model.

[0030] In the figure: 1 - chassis traveling system; 2 - jaw movement frame; 3 - water circuit system; 4 - mushroom stick clamping system.

[0031] 11 - chassis frame; 12 - lifting arm; 13 - pulley block; 14 - driving motor; 15 - universal wheel; 16 - interactive screen; 17 - traveling auxiliary camera.

[0032] 21 - longitudinal movement device; 22 - connection frame; 23 - lateral telescopic device; 24 - pin inserting device; 2101 - longitudinal movement rack; 2102 - longitudinal movement gear; 2103 - longitudinal driving motor; 2104 - longitudinal driving reducer; 2105 - pulley track; 2201 steel frame; 2202 - lateral movement slide rail; 2203 - longitudinal movement slide rail; 2301 - lateral telescopic driving motor; 2302 - lateral telescopic transmission device; 2303 - telescopic scissor mechanism; 2304 - lateral telescopic slide rail; 2305 - slider; 2306 - scissor mechanism slide rail; 2307 - center slide rail; 2401 - telescopic push rod; 2402 - pin inserting auxiliary camera; 2403 - pin inserting slide rail; 2404 - push rod connecting piece; 2405 - water injection needle connecting piece; 2406 - longitudinal movement slide rail connecting piece.

[0033] 31 - Water storage device; 32 - Water pipe; 33 - Solenoid valve; 34 - Flow sensor; 35 - Injection needle; 3101 - Water tank; 3102 - Water pump; 3201 - Inlet pipe; 3202 - Outlet pipe.

[0034] 41 - Thin film pressure sensor; 42 - Flexible component; 43 - Jaw lifting device; 44 - Weighing sensor; 45 - Jaw body; 46 - Baffle; 4301 - Lifting drive motor; 4302 - Transmission gear set; 4303 - Transmission lead screw; 4304 - Lifting frame; 4501 - Driving servo; 4502 - Active jaw; 4503 - Driven jaw. Detailed implementation manners

[0035] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0036] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0037] To make the purpose, technical solutions and advantages of the present utility model clearer, the present utility model will be further described in detail below in conjunction with the specific implementation manners and with reference to the drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present utility model. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present utility model.

[0038] Please refer with emphasis to Figures 1-11As shown in the figure, understand a self-propelled full-automatic water injection robot for mushroom sticks of the present utility model, including: a chassis walking system 1, a gripper motion frame 2, a waterway system 3, and a mushroom stick gripping system 4; the chassis walking system 1 walks between the edible mushroom growing frames used in cooperation, the gripper motion frame 2 and the waterway system 3 are installed on the chassis walking system 1, and the mushroom stick gripping system 4 is installed under the gripper motion frame 2; the edible mushroom growing frame includes a growing steel frame, a horizontal guiding line, and a vertical guiding line. The growing steel frame is used to place mushroom sticks for growing edible mushrooms. The horizontal guiding line indicates the working position of the self-propelled full-automatic water injection robot for mushroom sticks, and the vertical guiding line indicates the traveling route of the chassis walking system 1.

[0039] This self-propelled full-automatic water injection robot for mushroom sticks can adapt to different spacing of mushroom stick placements, automatically grip and weigh to determine the target water injection volume for each mushroom stick, automatically complete the water injection action, accurately evaluate the required water injection volume for each mushroom stick, improve the efficiency of mushroom stick water injection, and improve the quality and yield of edible mushrooms.

[0040] Please refer specifically to Figure 2 and Figure 3 As shown in the figure, the chassis walking system 1 includes a chassis frame 11, a lifting arm 12, a pulley group 13, a driving motor 14, a universal wheel 15, an interactive screen 16, and a walking auxiliary camera 17;

[0041] The lifting arm 12 is installed on the chassis frame 11, lifts through the track on the chassis frame 1, and drives the gripper motion frame 2 and the mushroom stick gripping system 4 to reach the edible mushroom growing frame used in cooperation; the driving motor 14 and the universal wheel 15 are installed at the bottom of the chassis frame 11, and the two driving motors 14 complete steering by differential to complete the walking action of the self-propelled full-automatic water injection robot for mushroom sticks; the pulley group 13 is fixed at the bottom of the lifting arm 12; the interactive screen 16 is installed at the rear side of the chassis frame 11 for human-machine interaction; the walking auxiliary camera 17 is installed at the front side of the chassis frame 11 for identifying the horizontal guiding line and the vertical guiding line.

[0042] Please refer specifically to Figure 4 and Figure 5 As shown in the figure, the gripper motion frame 2 includes a longitudinal moving device 21, a connecting frame 22, a lateral telescopic device 23, and a pin inserting device 24;

[0043] The longitudinal movement device 21 includes a longitudinal movement rack 2101, a longitudinal movement gear 2102, a longitudinal drive motor 2103, a longitudinal drive reducer 2104, and a pulley track 2105; the longitudinal drive reducer 2104 is fixed to the bottom of the lifting arm 12; the longitudinal movement gear 2102 and the longitudinal drive motor 2103 are installed on the longitudinal drive reducer 2104; the longitudinal movement rack 2101 and the pulley track 2105 are fixed to the connection frame 22, and the longitudinal movement rack 2101 and the longitudinal movement gear 2102 cooperate to achieve the longitudinal movement of the jaw movement frame 2, so that when the lifting arm 12 reaches the target height, the jaw movement frame 2 and the mushroom stick clamping system 4 longitudinally move to directly above the mushroom stick.

[0044] Please refer particularly to Figure 6 and Figure 7 As shown, the connection frame 22 includes a steel frame 2201, a lateral movement slide rail 2202, and a longitudinal movement slide rail 2203; the lateral movement slide rail 2202 is fixed to the longitudinal movement slide rail 2203 and is used to support the telescopic scissors mechanism 2303; the longitudinal movement slide rail 2203 is fixed to the steel frame 2201;

[0045] The lateral telescopic device 23 includes a lateral telescopic drive motor 2301, a lateral telescopic transmission device 2302, a telescopic scissors mechanism 2303, a lateral telescopic slide rail 2304, a slider 2305, and a scissors mechanism slide rail 2306; the lateral telescopic drive motor 2301 is fixed to the longitudinal movement slide rail 2203 and serves as the power source for the telescopic scissors mechanism 2303; the lateral telescopic transmission device 2302 is installed on the lateral telescopic drive motor 2301 and the lateral telescopic slide rail 2304 and is used to adjust the telescopic position of the telescopic scissors mechanism 2303; the telescopic scissors mechanism 2303 is installed on the scissors mechanism slide rail 2306 and the center slide rail 2307 through the slider 2305 and is used to adjust the distance between the lateral telescopic slide rails 2304; the center slide rail 2307 is fixed to the lateral movement slide rail 2202.

[0046] Please refer particularly to Figure 7As shown, the pin inserting device 24 includes a telescopic push rod 2401, a pin inserting auxiliary camera 2402, a pin inserting slide rail 2403, a push rod connecting member 2404, a water injection needle connecting member 2405, and a longitudinal movement slide rail connecting member 2406; the telescopic push rod 2401 is fixed on the transverse movement slide rail 2202 through a slider 2305, drives the longitudinal movement of the pin inserting slide rail 2403, and inserts the water injection needle 25 into the mushroom stick; the pin inserting auxiliary camera 2402 is fixed on the pin inserting slide rail 2403, identifies the water injection insertion point of the mushroom stick, and is used to assist in adjusting the insertion point of the mushroom stick; the push rod connecting member 2404 connects the telescopic push rod 2401 and the pin inserting slide rail 2403 through a slider 2305; the water injection needle connecting member 2405 is installed on the transverse telescopic slide rail 2304 through a slider 2305; the longitudinal movement slide rail connecting member 2406 is installed on the longitudinal movement slide rail 2203 through a slider.

[0047] Please refer particularly to Figure 8 As shown, the water circuit system 3 includes a water storage device 31, a water pipe 32, a solenoid valve 33, a flow sensor 34, and a water injection needle 35; the water storage device 31 is fixed on the chassis frame 11 and is used to store water or liquid medicine to be injected into the mushroom stick; the solenoid valve 33 and the flow sensor 34 are fixed on the lifting arm 12, the solenoid valve 33 is used to control the on / off of the water circuit, and the flow sensor 34 is used to measure the water flow rate passing through the current water circuit; the water storage device 31 includes a water tank 3101 and a water pump 3102, and the water pump 3102 is installed in the water tank 3101; the water pipe 32 includes a water inlet pipe 3201 and a water outlet pipe 3202; the water pump 3102, the water inlet pipe 3201, the solenoid valve 33, the flow sensor 34, the water outlet pipe 3202, and the water injection needle 35 are connected in sequence.

[0048] Please refer particularly to Figures 9-11As shown, the mushroom stick clamping system 4 includes a thin film pressure sensor 41, a flexible component 42, a jaw lifting device 43, a weighing sensor 44, a jaw body 45, and a baffle 46; the jaw lifting device 43 includes a lifting drive motor 4301, a transmission gear set 4302, a transmission lead screw 4303, and a lifting frame 4304; the lifting drive motor 4301 is fixed on the lateral telescopic slide rail 2304 and serves as the power source of the jaw lifting device 43; the transmission gear set 4302 is installed on the lifting drive motor 4301 and is used to transmit the power of the lifting drive motor 4301 to the two transmission lead screws 4303 to achieve synchronous rotation; the transmission lead screw 4303 is fixed on the transmission gear set 4302; the lifting frame 4304 cooperates with the transmission lead screw 4303 to achieve lifting; the jaw body 45 includes a drive servo 4501, a main jaw 4502, and a driven jaw 4503; the drive servo 4501 is fixed on the weighing sensor 44 and serves as the power source of the jaw body 45; the main jaw 4502 is installed on the output shaft of the drive servo 4501; the driven jaw 4503 cooperates with the main jaw 4502 to complete the clamping action; the thin film pressure sensor 41 is installed on the clamping contact surface of the main jaw 4502 and is used to control the clamping force of the jaw body 45; the flexible component 42 is installed on the clamping contact surfaces of the main jaw 4502 and the driven jaw 4503 to prevent the surface of the mushroom stick from being damaged; the jaw body 45 is installed on the lifting frame 4304 through the weighing sensor 44 and is used to pick up the mushroom stick; the weighing sensor 44 is used to weigh the mass of the picked-up mushroom stick; the baffle 46 is fixed on the outer jaw body 45 and is used to assist the water injection needle 35 to insert into the mushroom stick.

[0049] Please refer specifically to Figure 9 As shown, the weighing sensor 44 weighs the mass of each picked-up mushroom stick, and the controller calculates the target water injection amount of each picked-up mushroom stick, where the target water injection amount is equal to the target mass of the mushroom stick after water injection minus the mass of the picked-up mushroom stick.

[0050] It should be understood that the above specific embodiments of the present invention are only used for exemplary illustration or explanation of the principle of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modification examples falling within the scope and boundary of the appended claims, or equivalent forms of such scope and boundary.

Claims

1. A self-propelled mushroom stick fully automatic water injection robot, characterized in that: include: Chassis walking system (1), gripper motion frame (2), water system (3), mushroom stick gripping system (4); The chassis walking system (1) walks between the edible mushroom growing racks used in conjunction with the chassis walking system (1), the clamping claw moving frame (2) and the waterway system (3) are installed on the chassis walking system (1), and the mushroom stick clamping system (4) is installed below the clamping claw moving frame (2).

2. A self-propelled mushroom stick fully automatic water injection robot according to claim 1, characterized in that: The chassis walking system (1) comprises a chassis frame (11), a lifting arm (12), a pulley block (13), a driving motor (14), a universal wheel (15), an interactive screen (16), and a walking auxiliary camera (17); The lifting arm (12) is mounted on the chassis frame (11) and is lifted and lowered via a track on the chassis frame (11); the drive motor (14) and the universal wheel (15) are mounted on the bottom of the chassis frame (11), and the two drive motors (14) perform steering by differential speed; the pulley block (13) is fixed to the bottom of the lifting arm (12); the interactive screen (16) is mounted on the rear side of the chassis frame (11) and is used for human-computer interaction; and the walking assist camera (17) is mounted on the front side of the chassis frame (11) and is used for identifying a transverse guide line and a longitudinal guide line.

3. The self-propelled mushroom stick fully automatic water injection robot according to claim 1, characterized in that: The clamping jaw movement frame (2) comprises a longitudinal movement device (21), a connection frame (22), a transverse telescopic device (23), and a pin insertion device (24); The longitudinal moving device (21) comprises a longitudinal moving rack (2101), a longitudinal moving gear (2102), a longitudinal driving motor (2103), a longitudinal driving reducer (2104), and a pulley track (2105); the longitudinal driving reducer (2104) is fixed to the bottom of the lifting arm (12); the longitudinal moving gear (2102) and the longitudinal driving motor (2103) are mounted on the longitudinal driving reducer (2104); the longitudinal moving rack (2101) and the pulley track (2105) are fixed to the connecting frame (22); the longitudinal moving rack (2101) and the longitudinal moving gear (2102) cooperate to realize the longitudinal movement of the clamping claw moving frame (2).

4. The self-propelled mushroom stick fully automatic water injection robot according to claim 3 is characterized in that: The connecting frame (22) comprises a steel frame (2201), a transverse movable slide rail (2202), and a longitudinal movable slide rail (2203); the transverse movable slide rail (2202) is fixed on the longitudinal movable slide rail (2203); and the longitudinal movable slide rail (2203) is fixed on the steel frame (2201); The transverse telescopic device (23) comprises a transverse telescopic drive motor (2301), a transverse telescopic transmission device (2302), a telescopic scissor mechanism (2303), a transverse telescopic slide rail (2304), a slider (2305), a scissor mechanism slide rail (2306), and a center slide rail (2307); the transverse telescopic drive motor (2301) is fixed on the longitudinal movable slide rail (2203); the transverse telescopic transmission device (2302) is installed on the transverse telescopic drive motor (2301) and the transverse telescopic slide rail (2304) and is used to adjust the telescopic position of the telescopic scissor mechanism (2303); the telescopic scissor mechanism (2303) is installed on the scissor mechanism slide rail (2306) and the center slide rail (2307) via the slider (2305); and the center slide rail (2307) is fixed on the transverse movable slide rail (2202).

5. The self-propelled mushroom stick fully automatic water injection robot according to claim 3 is characterized by: The pin insertion device (24) comprises a telescopic push rod (2401), a pin insertion auxiliary camera (2402), a pin insertion slide rail (2403), a push rod connector (2404), a water injection needle connector (2405), and a longitudinal movable slide rail connector (2406); the telescopic push rod (2401) is fixed to the transverse movable slide rail (2202) via a slider (2305), driving the pin insertion slide rail (2403) to move longitudinally; the pin insertion auxiliary camera (2 402) is fixed on the pin insertion rail (2403) to assist in adjusting the insertion point of the mushroom stick; the push rod connector (2404) connects the telescopic push rod (2401) and the pin insertion rail (2403) through a slider (2305); the water injection needle connector (2405) is installed on the horizontal telescopic rail (2304) through a slider (2305); the longitudinal movable rail connector (2406) is installed on the longitudinal movable rail (2203) through a slider.

6. The self-propelled mushroom stick fully automatic water injection robot according to claim 1, characterized in that: The water system (3) comprises a water storage device (31), a water pipe (32), an electromagnetic valve (33), a flow sensor (34), and a water injection needle (35); the water storage device (31) is fixed on the chassis frame (11); the electromagnetic valve (33) and the flow sensor (34) are fixed on the lifting arm (12); the water storage device (31) comprises a water tank (3101) and a water pump (3102), and the water pump (3102) is installed in the water tank (3101); the water pipe (32) comprises a water inlet pipe (3201) and a water outlet pipe (3202); the water pump (3102), the water inlet pipe (3201), the electromagnetic valve (33), the flow sensor (34), the water outlet pipe (3202), and the water injection needle (35) are connected in sequence.

7. The self-propelled mushroom stick fully automatic water injection robot according to claim 1, characterized in that: The mushroom stick clamping system (4) comprises a thin film pressure sensor (41), a flexible component (42), a clamping claw lifting device (43), a weighing sensor (44), a clamping claw body (45), and a baffle (46); the clamping claw lifting device (43) comprises a lifting drive motor (4301), a transmission gear set (4302), a transmission screw (4303), and a lifting frame (4304); the lifting drive motor (4301) is fixed on a transverse telescopic slide rail (2304); the transmission gear set (4302) is mounted on the lifting drive motor (4301); the transmission screw (4303) is fixed on the transmission gear set (4302); the lifting frame (4304) cooperates with the transmission screw (4303) to achieve lifting; the clamping claw body (45) comprises a driving servo (4501), an active clamping claw (4502), a driven clamp (4503); the driving servo (4501) is fixed on a weighing sensor (44); the active clamp (4502) is mounted on the output shaft of the driving servo (4501); the driven clamp (4503) cooperates with the active clamp (4502) to complete the clamping action; the film pressure sensor (41) is mounted on the clamping contact surface of the active clamp (4502) to control the clamping force of the clamp body (45); the flexible component (42) is mounted on the clamping contact surface of the active clamp (4502) and the driven clamp (4503) to prevent the surface of the mushroom stick from being damaged; the clamp body (45) is mounted on the lifting frame (4304) through the weighing sensor (44) to weigh the mass of the mushroom stick; the baffle (46) is fixed on the outer clamp body (45).

8. The self-propelled mushroom stick fully automatic water injection robot according to claim 7, characterized in that: The weighing sensor (44) weighs the mass of each clamped mushroom stick, and the controller calculates the target water injection amount of each clamped mushroom stick, wherein the target water injection amount is equal to the target mass of the mushroom stick after water injection minus the mass of the clamped mushroom stick.

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