Mushroom planting robot
By designing mushroom planting robots and using components such as servo motors and mechanical grippers, automated planting of mushroom packs is realized, solving the problem of inefficient mushroom planting, improving planting efficiency and reducing operating costs.
Patent Information
- Application Number
- CN202422084331.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-27
- Publication Date
- 2025-07-04
- Estimated Expiration
- 2034-08-27
AI Technical Summary
During the existing mushroom cultivation process, the cultivation of mushroom bags is inefficient and the operation steps are complicated. Only a single mushroom bag can be planted at a time, which is a large workload.
Design a mushroom planting robot, using servo motor A, screw rod, drive block, electric telescopic rod, electric push rod, drill bit, servo motor B, mechanical gripper and drive plate to realize the automated bacterial bag planting process, including drilling, bacterial bag grab and soil block flattening.
It improves the planting efficiency of bacterial bags, reduces operating costs, and adapts to the stability and carrying capacity of complex terrain.
Smart Images
Figure CN223053578U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of mushroom cultivation, in particular to a mushroom cultivation robot. Background Art
[0002] Mushrooms are a large category of edible fungi, including Agaricus bisporus (also known as white mushroom, button mushroom), etc. These fungi usually grow on wood, and some species can also grow in soil. There are many types of mushrooms, and common ones include Lentinula edodes, Pleurotus ostreatus, Flammulina velutipes, Pleurotus eryngii, Morchella esculenta, Tricholoma matsutake, etc.
[0003] However, when the existing mushroom cultivation is used, usually workers dig planting holes, and then place the mushroom bags into the planting holes for cultivation treatment. The operation steps are cumbersome, and only a single mushroom bag can be planted at a time. Moreover, the planting areas of mushroom bags are wide and the workload is large, which has a certain impact on the planting efficiency of mushroom bags. Therefore, a mushroom cultivation robot is provided. Summary of the Utility Model
[0004] The main purpose of the utility model is to provide a mushroom cultivation robot. By setting a servo motor A, a lead screw, a driving block, an electric telescopic rod, an electric push rod, a drill bit, a servo motor B, a mechanical gripper and a driving plate, the utility model solves the problem of low planting efficiency of mushroom bags when the existing mushroom cultivation is used.
[0005] The technical solution adopted by the utility model to solve its technical problems is a mushroom cultivation robot, including a vehicle body. A load-bearing cavity for placing mushroom cultivation bags is opened at the top of the vehicle body. A connecting frame is bolted to the top of the vehicle body, and a servo motor A for providing power is bolted inside the connecting frame. A lead screw is key-connected to the power output end of the servo motor A, and a driving block is threadedly connected to the outside of the lead screw. A support plate is welded to the bottom of the driving block, and an electric telescopic rod for providing power is screwed and fixed inside the support plate. An installation plate is screwed and fixed to the power output end of the electric telescopic rod. A mechanical gripper for grasping the mushroom bag is arranged at the bottom of the installation plate. A chassis is screwed and fixed to the bottom of the vehicle body. A roller for leveling soil blocks is rotatably connected to one side of the chassis. An electric push rod for providing power is bolted inside the chassis, and a driving plate is screwed and fixed to the power output end of the electric push rod. A servo motor B for providing power is bolted to the outside of the driving plate. A drill bit for drilling the ground is screwed and fixed to the power output end of the servo motor B, and a gear for providing power is sleeved on the outside of the drill bit.
[0006] By adopting the above technical solution, when it is necessary to plant mushrooms, the vehicle body moves to the position where planting is required. Subsequently, the external controller causes the electric push rod in the chassis to drive the driving plate to move, so that the drill bit on the driving plate contacts the ground. There are six groups of drill bits, and at the same time, the servo motor B outside the driving plate is controlled by the controller. The servo motor B converts the received electrical energy into mechanical energy, and the servo motor B drives the drill bit to drill holes in the ground. Subsequently, the electric push rod drives the drilled holes on the driving plate to move, and then the vehicle body moves backward, so that the position of the ground drilling is exposed. Then, the servo motor A in the connecting frame is affected by the controller, and the servo motor A drives the screw rod to rotate. The driving block outside the screw rod is limited by the external structure, and the driving block moves horizontally outside the screw rod. Then, the driving block drives the electric telescopic rod on the support plate to move, and the electric telescopic rod drives the mechanical gripper on the mounting plate to move above the load cavity. Then, the electric telescopic rod on the support plate drives the mounting plate to move, so that the mechanical gripper on the mounting plate moves outside the mushroom bag. Then, the external controller causes the mechanical gripper to clamp the mushroom bag, and there are six groups of mechanical grippers on the mounting plate. Then, the electric telescopic rod drives the mechanical gripper on the mounting plate to move upward, and the screw rod on the servo motor A drives the driving block to move, so that the mechanical gripper moves outside the vehicle body. Then, the electric telescopic rod on the support plate drives the mechanical gripper on the mounting plate to move above the ground hole, and the external controller causes the mechanical gripper to open, so that the mushroom bag enters the ground hole. After all the mushroom bags in the vehicle body are in the ground holes, the vehicle body moves outside the holes, and the rollers on the chassis of the vehicle body press outside the holes, so that the soil blocks outside the holes enter the holes, thereby improving the planting efficiency of the mushroom bags;
[0007] When the servo motor B on the driving plate drives the drill bit to rotate, the gear outside the drill bit rotates with the drill bit, and gears are arranged outside each of the six groups of drill bits on the driving plate. When the drill bit drills holes in the ground, the gear outside the drill bit will drive other drill bits to rotate, thereby reducing the operating cost.
[0008] Specifically, a limiting rod is welded inside the connecting frame, and a fixing block is slidably connected to the outside of the limiting rod. One end of the fixing block is screwed to the outside of the driving block, and a camera for photographing the surrounding picture of the planting area is screwed to the outside of the vehicle body.
[0009] By adopting the above technical solution, when the driving block moves outside the screw rod, the fixing block outside the driving block slides outside the limiting rod, so that the driving block is limited outside the screw rod, and the stability of the driving block moving horizontally outside the screw rod is improved.
[0010] Specifically, a crawler wheel for moving the vehicle body is arranged on one side of the vehicle body.
[0011] By adopting the above technical solution, the vehicle body moves through the external crawler wheel. The crawler wheel has a larger contact area with the ground, can better disperse the weight, and improves the stability and load-bearing capacity of the vehicle body.
[0012] Specifically, a bearing sleeve for stabilizing the rotation of the drill bit is fixed inside the drive plate with screws.
[0013] By adopting the above technical solution, when the servo motor B outside the drive plate drives the drill bit to rotate, the drill bit rotates inside the bearing sleeve on the drive plate, improving the stability of the drill bit rotation.
[0014] Specifically, the input ends of the servo motor A, the servo motor B, the electric telescopic rod, and the electric push rod are all electrically connected to the power supply end of the internal power supply.
[0015] By adopting the above technical solution, by connecting the power supply, the electrical equipment works normally.
[0016] The beneficial effects of the present utility model:
[0017] (1) For the mushroom planting robot of the present utility model, when mushroom planting is to be carried out, the vehicle body moves to the position where planting is required. Subsequently, the external controller causes the electric push rod inside the chassis to drive the drive plate to move, so that the drill bit on the drive plate contacts the ground. And there are six groups of drill bits. At the same time, the servo motor B outside the drive plate is controlled by the controller. The servo motor B converts the received electrical energy into mechanical energy, and the servo motor B drives the drill bit to drill the ground. Subsequently, the electric push rod drives the drilled hole on the drive plate to move. Then the vehicle body moves backward, so that the position of the ground drill hole is exposed. Then the servo motor A in the connecting frame is affected by the controller. The servo motor A drives the lead screw to rotate. The drive block outside the lead screw is limited by the external structure, and the drive block moves horizontally outside the lead screw. Then the drive block drives the electric telescopic rod on the support plate to move. The electric telescopic rod drives the mechanical gripper on the mounting plate to move above the load cavity. Then the electric telescopic rod on the support plate drives the mounting plate to move, so that the mechanical gripper on the mounting plate moves outside the mushroom bag. Then the external controller causes the mechanical gripper to clamp the mushroom bag. And there are six groups of mechanical grippers on the mounting plate. Then the electric telescopic rod drives the mechanical gripper on the mounting plate to move upward. The lead screw on the servo motor A drives the drive block to move, so that the mechanical gripper moves outside the vehicle body. Then the electric telescopic rod on the support plate drives the mechanical gripper on the mounting plate to move above the ground hole. The external controller causes the mechanical gripper to open, so that the mushroom bag enters the ground hole. After all the mushroom bags in the vehicle body enter the ground holes, the vehicle body moves outside the holes. The rollers on the chassis of the vehicle body press outside the holes, so that the soil blocks outside the holes enter the holes, thereby improving the planting efficiency of the mushroom bags.
[0018] (2) For the mushroom planting robot of the present utility model, when the servo motor B on the drive plate drives the drill bit to rotate, the gear outside the drill bit rotates with the drill bit. And gears are arranged outside the six groups of drill bits on the drive plate. When the drill bit drills the ground, the gears outside the drill bit will drive other drill bits to rotate, thereby reducing the operating cost. Description of the Drawings
[0019] The present utility model will be further described below in conjunction with the accompanying drawings and embodiments.
[0020] Figure 1 It is a schematic diagram of the overall structure of a mushroom planting robot of the present utility model;
[0021] Figure 2 It is a schematic diagram of the internal structure of the chassis of a mushroom planting robot of the present utility model;
[0022] Figure 3 It is a schematic diagram of the internal structure of the drive board of a mushroom planting robot of the present utility model;
[0023] In the figure: 1, servo motor A; 2, lead screw; 3, connecting frame; 4, limit rod; 5, drive block; 6, vehicle body; 7, fixed block; 8, crawler wheel; 9, support plate; 10, electric telescopic rod; 11, mounting plate; 12, mechanical gripper; 13, chassis; 14, electric push rod; 15, roller; 16, drive board; 17, drill bit; 18, servo motor B; 19, gear; 20, bearing sleeve; 21, load cavity; 22, camera. Specific embodiments
[0024] In order to make the technical means, creative features, achieved purposes and effects realized by the present utility model easy to understand, the present utility model will be further described below in conjunction with specific embodiments.
[0025] In order to improve the planting efficiency of mushroom bags, as an embodiment of the present utility model, as Figure 1 , Figure 2 and Figure 3 shown, a mushroom planting robot of the present utility model includes a vehicle body 6, a load cavity 21 for placing mushroom planting bags is opened at the top of the vehicle body 6, a connecting frame 3 is bolted to the top of the vehicle body 6, and a servo motor A 1 providing power is bolted inside the connecting frame 3. The power output end of the servo motor A 1 is key-connected to a lead screw 2, and a drive block 5 is threadedly connected to the outside of the lead screw 2. The bottom of the drive block 5 is welded with a support plate 9, and an electric telescopic rod 10 providing power is screwed and fixed inside the support plate 9. The power output end of the electric telescopic rod 10 is screwed and fixed to a mounting plate 11, and a mechanical gripper 12 for grasping the mushroom bag is arranged at the bottom of the mounting plate 11. A chassis 13 is screwed and fixed to the bottom of the vehicle body 6, a roller 15 for leveling the soil blocks is rotatably connected to one side of the chassis 13, an electric push rod 14 providing power is bolted inside the chassis 13, and the power output end of the electric push rod 14 is screwed and fixed to a drive board 16. A servo motor B 18 providing power is bolted to the outside of the drive board 16, the power output end of the servo motor B 18 is screwed and fixed to a drill bit 17 for drilling the ground, and a gear 19 providing power is sleeved on the outside of the drill bit 17.
[0026] During use, when mushrooms are to be planted, the vehicle body 6 moves to the position where they need to be planted, and then the external controller causes the electric push rod 14 in the base frame 13 to drive the driving plate 16 to move, so that the drill bit 17 on the driving plate 16 contacts the ground, and the drill bit 17 is provided with six groups, and at the same time the servo motor B18 outside the driving plate 16 is controlled by the controller, the servo motor B18 converts the received electrical energy into mechanical energy, the servo motor B18 drives the drill bit 17 to drill holes in the ground, and then the electric push rod 14 drives the drilling hole on the driving plate 16 to move, and then the vehicle body 6 moves backward, so that the position of the drilling hole on the ground is leaked, and then the servo motor A1 in the connecting frame 3 is acted upon by the controller, the servo motor A1 drives the screw rod 2 to rotate, the driving block 5 outside the screw rod 2 is limited by the external structure, the driving block 5 moves laterally outside the screw rod 2, and then the driving block 5 drives the electric telescopic rod 10 on the support plate 9 to move, and the electric telescopic rod 10 drives the mechanical gripper on the mounting plate 11 The hand 12 moves to the top of the load-bearing chamber 21, and then the electric telescopic rod 10 on the support plate 9 drives the mounting plate 11 to move, so that the mechanical gripper 12 on the mounting plate 11 moves to the outside of the mushroom bag, and then the external controller enables the mechanical gripper 12 to clamp the mushroom bag, and the mechanical gripper 12 on the mounting plate 11 is provided with six groups, and then the electric telescopic rod 10 drives the mechanical gripper 12 on the mounting plate 11 to move upward, and the screw rod 2 on the servo motor A1 drives the driving block 5 to move, so that the mechanical gripper 12 moves to the outside of the vehicle body 6, and then the electric telescopic rod 10 on the support plate 9 drives the mechanical gripper 12 on the mounting plate 11 to move above the hole in the ground, and the external controller enables the mechanical gripper 12 to open, so that the mushroom bag enters the inside of the hole in the ground, and after the mushroom bag enters the hole in the ground, the vehicle body 6 moves outside the hole, and the roller 15 on the chassis 13 of the vehicle body 6 presses outside the hole, so that the soil outside the hole enters the hole, thereby improving the planting efficiency of the mushroom bag;
[0027] When the servo motor B18 on the driving plate 16 drives the drill bit 17 to rotate, the gear 19 outside the drill bit 17 rotates with the drill bit 17, and the gears 19 are arranged outside the six groups of drill bits 17 on the driving plate 16. When the drill bit 17 drills a hole in the ground, the gear 19 outside the drill bit 17 drives other drill bits 17 to rotate, thereby reducing the operating cost;
[0028] The vehicle body 6 is provided with three layers, each layer has 16 rows, and 6 mushroom bags are placed in one row.
[0029] In order to improve the stability of the lateral movement of the drive block 5 outside the screw rod 2, for example, Figure 1 As shown, the utility model also includes a limiting rod 4 welded on the inner side of the connecting frame 3, and a fixing block 7 is slidably connected to the outside of the limiting rod 4, one end of the fixing block 7 is screwed to the outside of the driving block 5, and a camera 22 for shooting pictures around the planting site is screwed to the outside of the vehicle body 6.
[0030] During use, when the driving block 5 moves outside the lead screw 2, the fixed block 7 outside the driving block 5 slides outside the limiting rod 4, so that the driving block 5 is limited outside the lead screw 2, improving the stability of the lateral movement of the driving block 5 outside the lead screw 2.
[0031] To improve the stability and load-bearing capacity of the vehicle body 6, exemplarily, as Figure 1 shown, the present invention further includes a crawler wheel 8 provided on one side of the vehicle body 6 to move the vehicle body 6.
[0032] During use, the vehicle body 6 moves through the external crawler wheel 8. The crawler wheel 8 has a larger contact area with the ground, can better disperse the weight, improves the stability and load-bearing capacity of the vehicle body 6, and is suitable for walking on complex working environment terrains such as mountains and farmlands.
[0033] To improve the stability of the rotation of the drill bit 17, exemplarily, as Figure 3 shown, the present invention further includes a bearing sleeve 20 fixed by screws inside the driving plate 16 to make the rotation of the drill bit 17 stable.
[0034] During use, when the servo motor B18 outside the driving plate 16 drives the drill bit 17 to rotate, the drill bit 17 rotates inside the bearing sleeve 20 on the driving plate 16, improving the stability of the rotation of the drill bit 17.
[0035] To enable the electrical equipment to work properly, exemplarily, as Figure 1 、 Figure 2 and Figure 3 shown, the present invention further includes that the input ends of the servo motor A1, the servo motor B18, the electric telescopic rod 10 and the electric push rod 14 are all electrically connected to the power supply end of the internal power supply.
[0036] During use, by connecting the power supply, the electrical equipment works properly.
[0037] When the utility model is in use, when it is necessary to plant mushrooms, the vehicle body 6 moves to the position where planting is required. Subsequently, the external controller causes the electric push rod 14 in the chassis 13 to drive the drive plate 16 to move, so that the drill bit 17 on the drive plate 16 contacts the ground. And there are six groups of drill bits 17. At the same time, the servo motor B18 outside the drive plate 16 is controlled by the controller. The servo motor B18 converts the received electric energy into mechanical energy. The servo motor B18 drives the drill bit 17 to drill the ground. Subsequently, the electric push rod 14 drives the drill holes on the drive plate 16 to move. Then the vehicle body 6 moves backward, so that the position of the ground drill hole is exposed. Then, under the action of the controller, the servo motor A1 in the connecting frame 3 drives the lead screw 2 to rotate. The driving block 5 outside the lead screw 2 is limited by the external structure. The driving block 5 moves horizontally outside the lead screw 2. Then the driving block 5 drives the electric telescopic rod 10 on the support plate 9 to move. The electric telescopic rod 10 drives the mechanical gripper 12 on the mounting plate 11 to move above the load cavity 21. Then the electric telescopic rod 10 on the support plate 9 drives the mounting plate 11 to move, so that the mechanical gripper 12 on the mounting plate 11 moves outside the mushroom bag. Then the external controller causes the mechanical gripper 12 to clamp the mushroom bag. And there are six groups of mechanical grippers 12 on the mounting plate 11. Then the electric telescopic rod 10 drives the mechanical gripper 12 on the mounting plate 11 to move upward. The lead screw 2 on the servo motor A1 drives the driving block 5 to move, so that the mechanical gripper 12 moves outside the vehicle body 6. Then the electric telescopic rod 10 on the support plate 9 drives the mechanical gripper 12 on the mounting plate 11 to move above the ground hole. The external controller causes the mechanical gripper 12 to open, so that the mushroom bag enters the ground hole. After the mushroom bag enters the ground hole, the vehicle body 6 moves outside the hole. The roller 15 on the chassis 13 of the vehicle body 6 presses outside the hole, so that the soil blocks outside the hole enter the hole, thereby improving the planting efficiency of the mushroom bag;
[0038] When the servo motor B18 on the drive plate 16 drives the drill bit 17 to rotate, the gear 19 outside the drill bit 17 rotates with the drill bit 17. And there are gears 19 outside each of the six groups of drill bits 17 on the drive plate 16. When the drill bit 17 drills the ground, the gear 19 outside the drill bit 17 will drive other drill bits 17 to rotate, thereby reducing the operating cost;
[0039] When the driving block 5 moves outside the lead screw 2, the fixed block 7 outside the driving block 5 slides outside the limiting rod 4, so that the driving block 5 is limited outside the lead screw 2, improving the stability of the driving block 5 moving horizontally outside the lead screw 2;
[0040] A bearing seat is arranged at one end of the lead screw 2 away from the servo motor A1, so that the lead screw 2 rotates stably. At the same time, a bearing seat is arranged at the position where other drill bits 17 outside the drill bit 17 are connected to the inside of the drive plate 16, providing the stability of the drill bit 17 rotating;
[0041] The vehicle body 6 is moved by the external crawler wheels 8. The crawler wheels 8 have a larger contact area with the ground, which can better disperse the weight, improving the stability and load-bearing capacity of the vehicle body 6;
[0042] When the servo motor B18 outside the drive plate 16 drives the drill bit 17 to rotate, the drill bit 17 rotates within the bearing sleeve 20 on the drive plate 16, improving the rotational stability of the drill bit 17.
[0043] The above shows and describes the basic principles, main features and advantages of the present utility model. Those skilled in the art should understand that the present utility model is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present utility model. Without departing from the spirit and scope of the present utility model, the present utility model will have various changes and improvements, and all these changes and improvements fall within the scope of protection required by the present utility model. The scope of protection required by the present utility model is defined by the appended claims and their equivalents.
Claims
1. A mushroom planting robot, characterized in that, It includes a vehicle body (6). A load cavity (21) for placing mushroom planting fungus bags is provided at the top of the vehicle body (6). A connecting frame (3) is bolted to the top of the vehicle body (6), and a servo motor A (1) that provides power is bolted inside the connecting frame (3). A lead screw (2) is key-connected to the power output end of the servo motor A (1), and a driving block (5) is threadedly connected to the outside of the lead screw (2). A support plate (9) is welded to the bottom of the driving block (5), and an electric telescopic rod (10) that provides power is screwed and fixed inside the support plate (9). An installation plate (11) is screwed and fixed to the power output end of the electric telescopic rod (10). A mechanical gripper (12) for grasping the fungus bags is provided at the bottom of the installation plate (11). A chassis (13) is screwed and fixed to the bottom of the vehicle body (6). A roller (15) for leveling soil blocks is rotatably connected to one side of the chassis (13). An electric push rod (14) that provides power is bolted inside the chassis (13), and a driving plate (16) is screwed and fixed to the power output end of the electric push rod (14). A servo motor B (18) that provides power is bolted to the outside of the driving plate (16). The power output end of the servo motor B (18) is screwed and fixed with a drill bit (17) for drilling the ground, and a gear (19) that provides power is sleeved on the outside of the drill bit (17).
2. The mushroom planting robot according to claim 1, characterized in that, A limiting rod (4) is welded inside the connecting frame (3), and a fixing block (7) is slidably connected to the outside of the limiting rod (4). One end of the fixing block (7) is screwed and connected to the outside of the driving block (5). A camera (22) for photographing the surrounding picture of the planting area is screwed and fixed to the outside of the vehicle body (6).
3. The mushroom planting robot according to claim 1, characterized in that, A crawler wheel (8) for moving the vehicle body (6) is provided on one side of the vehicle body (6).
4. The mushroom planting robot according to claim 1, characterized in that, A bearing sleeve (20) for stabilizing the rotation of the drill bit (17) is screwed and fixed inside the driving plate (16).
5. The mushroom planting robot according to claim 1, characterized in that, The input ends of the servo motor A (1), the servo motor B (18), the electric telescopic rod (10), and the electric push rod (14) are all electrically connected to the power supply end of the internal power supply.