Movable pleurotus eryngii picking robot

Abstract

The utility model discloses a mobile Pleurotus eryngii picking robot, which comprises a mobile chassis, a blade picking mechanism, a screw lifting mechanism and a console, the screw lifting mechanism is mounted on the mobile chassis, the blade picking mechanism is mounted on the screw lifting mechanism, and the blade picking mechanism comprises a lifting assembly and a picking assembly. The picking assembly is arranged on one side of the lifting assembly, and the lifting assembly is used for driving the picking assembly to move up and down and adjusting the picking height. During picking, a blade integral cutting mode is used, the E-shaped frame is used in a matched mode, the four cutting blades are arranged in the E-shaped frame, four layers can be cut at a time, the integral motion trail of the blades and the robot is similar to an S shape during cutting, and multiple layers of pleurotus eryngii can be picked at a time; and when the pleurotus eryngii is dense, the picking blade can accurately enter the picking area under the guidance of the E-shaped frame, so that the picking efficiency is relatively high.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural mechanization and automation equipment, in particular to a mobile king oyster mushroom picking robot. Background Art

[0002] King oyster mushroom is an edible fungus. The existing King oyster mushroom factory cultivation industry requires large-scale, factory-based production. King oyster mushroom factory cultivation is a multi-layer mushroom bed cultivation. King oyster mushrooms grow faster during the cultivation maturity period, and newly mature King oyster mushrooms are relatively tender. If King oyster mushrooms are picked late, they are not fresh enough or are too mature, or even old, hard, and cracked. In order to prevent King oyster mushrooms from growing too mature quickly and ensure the quality and high price of King oyster mushrooms, a King oyster mushroom production plant needs more than 20 people working continuously during the maturity period to ensure that fresh and tender King oyster mushrooms are picked. To ensure timely picking, picking robots are often used in existing technologies.

[0003] The lifting method of the picking robot in the existing technology adopts a push rod type or a gear rack type. These two lifting methods are not stable enough and there are certain safety hazards when the height is high; the picking method adopts a blade cutting method, but in the actual area where the king oyster mushrooms grow relatively densely, it is impossible to pass through the king oyster mushroom bushes and send the blade to the ideal cutting position at the root. In addition, only a single king oyster mushroom can be picked at a time during blade cutting, and the picking efficiency is low; the lifting platform and the picking mechanism are both installed on a cart for walking, and manpower is required to push it to the side of the king oyster mushroom rack and continue picking, which is inconvenient to use. Utility Model Content

[0004] The purpose of the utility model is to provide a mobile king oyster mushroom picking robot to solve the problems raised in the above background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] A mobile king oyster mushroom picking robot comprises a mobile chassis, a blade picking mechanism, a screw lifting mechanism and a control console. The screw lifting mechanism is mounted on the mobile chassis, the blade picking mechanism is mounted on the screw lifting mechanism, the blade picking mechanism comprises a lifting assembly and a picking assembly, the picking assembly is arranged on one side of the lifting assembly, and the lifting assembly is used to drive the picking assembly to move up and down to adjust the picking height;

[0007] The picking component includes a load-bearing platform, a slide module is installed above the load-bearing platform, a slide module is slidably connected to the slide, a rotating motor is installed on the slide, a flange is fixed to one end of the output shaft of the rotating motor, an E-shaped frame is fixed to one side of the flange, multiple cutting motors are installed in the E-shaped frame, and cutting blades are fixed to one end of the output shafts of the multiple cutting motors.

[0008] As a further solution of the present invention: the mobile chassis vehicle includes a chassis vehicle shell and a chassis frame, the chassis vehicle shell is sleeved and fixed on the chassis frame, driven wheels are installed at the four corners of the bottom of the chassis frame, driving wheels are installed on both sides of the middle position of the bottom of the chassis frame through driving wheel mounting seats, and driving motors are installed on one side of the chassis frame corresponding to the two driving wheels, and one end of the output shaft of the two driving motors is respectively connected and fixed to one end of the driving wheel rotating shaft on the corresponding side.

[0009] As a further solution of the present invention: the screw lifting mechanism includes a screw and a lifting bracket, the lifting bracket is a U-shaped structure, and the screw is rotatably connected to the front end inside the lifting bracket, and guide rails are provided at the left and right ends of the lifting bracket corresponding to one side of the screw. The bottom end of the lifting bracket is fixed to the mobile chassis through a mounting plate, and a lifting motor is installed above the mounting plate on the side corresponding to the screw, and sprockets are fixed to one end of the lifting motor output shaft and one end of the screw, and the two sprockets are connected by chain transmission.

[0010] As a further solution of the present invention: the lifting assembly is sleeved on the front side of the lifting bracket, and the lifting assembly includes a U-shaped platform and a back plate. The U-shaped platform and the back plate are connected to form a U-shaped structure passing through from top to bottom. A nut sleeve is provided inside the U-shaped platform, and the nut sleeve is threadedly connected to the screw rod, and a nut seat is fixed on the nut sleeve. Vertical plates are fixed on both sides of the nut seat, and a slider is fixed on one side of the two vertical plates. The two sliders are respectively slidably connected to the guide rails on the corresponding side.

[0011] As a further solution of the present invention: the load-bearing platform is fixed to one side of the U-shaped platform by bolts.

[0012] As a further solution of the present invention: an emergency stop switch is provided on one side of the top of the chassis shell, a plurality of antennas are provided on the side of the top of the chassis shell away from the emergency stop switch, a warning light is provided on the side of the top of the chassis shell corresponding to the plurality of antennas, and a plurality of ultrasonic radars are installed on both the front and rear sides of the chassis shell.

[0013] As a further solution of the present invention: the console includes a control panel and a display screen, both of which are installed on the rear side of the lifting bracket, and the display screen is located above the control panel, and a plurality of control buttons are provided on the control panel.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] 1. In this utility model, the mobile chassis adopts a movement mode of two driving wheels and four driven wheels, which makes the vehicle steering more convenient and can be easily moved in a narrow mushroom house. Furthermore, the height of the picking component is adjusted by screws and screw sleeves. The structure and operation are relatively stable, and the lifting height is high. It can complete the lifting task with a large load and covers the full height range of mushroom racks from 0.4 to 3.2 meters.

[0016] 2. In the present invention, the picking method uses an overall blade cutting method, and is used in conjunction with an E-shaped frame. Four cutting blades are set in the E-shaped frame, which can cut four layers at a time. The movement trajectory of the blade and the robot as a whole during cutting is similar to an "S" shape, which greatly improves the picking speed and solves the problems of only picking one at a time and the inability of the picking blade to accurately enter the picking area when the king oyster mushrooms are dense, resulting in low picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 It is a structural diagram of the present utility model.

[0019] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0020] Figure 3 An exploded diagram of the lifting assembly in the present invention.

[0021] Figure 4 This is an exploded diagram of the screw lifting mechanism in the utility model.

[0022] Figure 5 for Figure 4 Enlarged view of point B in the middle.

[0023] Figure 6 This is an exploded view of the mobile chassis vehicle in the present utility model.

[0024] Figure 7 It is a structural diagram of the picking component in the utility model.

[0025] Figure 8 It is a side view of the picking component in the utility model.

[0026] Figure 9 It is a rear view of the present invention.

[0027] Figure numerals: 1-mobile chassis, 11-chassis shell, 12-chassis frame, 13-driven wheel, 14-driving wheel mounting seat, 15-driving wheel, 16-driving motor, 17-emergency stop switch, 18-antenna, 19-warning light, 2-blade picking mechanism, 21-lifting assembly, 211-U-shaped platform, 212-back plate, 213-nut seat, 214-nut sleeve, 215-vertical plate, 216-slider, 22 -Picking component, 221-E frame, 222-cutting blade, 223-load-bearing platform, 224-rotating motor, 225-slide module, 226-slide, 227-flange, 228-cutting motor, 3-screw lifting mechanism, 31-screw, 32-lifting bracket, 33-guide rail, 34-lifting motor, 35-mounting plate, 36-sprocket, 37-chain, 4-console, 41-control panel, 42-display screen. DETAILED DESCRIPTION

[0028] The following embodiments will be described in detail with reference to the accompanying drawings. Similar or identical parts are denoted by the same reference numerals in the drawings and descriptions. In actual applications, the shape, thickness, or height of each component may be enlarged or reduced. The embodiments listed in the present invention are intended only to illustrate the present invention and are not intended to limit its scope. Any obvious modifications or variations to the present invention do not depart from the spirit and scope of the present invention.

[0029] Example 1

[0030] See also Figure 1 In an embodiment of the utility model, a mobile king oyster mushroom picking robot includes a mobile chassis 1, a blade picking mechanism 2, a screw lifting mechanism 3 and a control console 4. The screw lifting mechanism 3 is installed on the mobile chassis 1, and the blade picking mechanism 2 is installed on the screw lifting mechanism 3. The screw lifting mechanism 3 can be moved by the mobile chassis 1 and the blade picking mechanism 2 can be driven to move synchronously. The control console 4 is installed on the screw lifting mechanism 3.

[0031] See also Figure 4 、 Figure 5The screw lifting mechanism 3 includes a screw 31 and a lifting bracket 32. The lifting bracket 32 ​​is a U-shaped structure, and the screw 31 is rotatably connected to the front end of the lifting bracket 32. Guide rails 33 are provided on the left and right ends of the lifting bracket 32 ​​corresponding to one side of the screw 31. The bottom end of the lifting bracket 32 ​​is fixed to the mobile chassis 1 through a mounting plate 35, and a lifting motor 34 is installed on the side corresponding to the screw 31 above the mounting plate 35. A sprocket 36 is fixed to one end of the output shaft of the lifting motor 34 and one end of the screw 31. The two sprockets 36 are connected by a chain 37.

[0032] See also Figure 2 、 Figure 3 、 Figure 7 、 Figure 8 The blade picking mechanism 2 includes a lifting component 21 and a picking component 22. The lifting component 21 is sleeved on the front side of the lifting bracket 32, and the picking component 22 is arranged on one side of the lifting component 21. The lifting component 21 is used to drive the picking component 22 to move up and down to adjust the picking height. The lifting component 21 includes a U-shaped platform 211 and a back plate 212. The U-shaped platform 211 and the back plate 212 are connected to form a mouth-shaped structure that passes through the top and bottom. A nut sleeve 214 is provided inside the U-shaped platform 211. The nut sleeve 214 is threadedly connected to the screw 31, and a nut seat 213 is fixed to the nut sleeve 214. Vertical plates 215 are fixed on both sides of the nut seat 213. Sliders 216 are fixed on one side of the two vertical plates 215. The two slides 216 are respectively slidably connected to the guide rails 33 on the corresponding side;

[0033] The picking component 22 includes a load-bearing platform 223, which is fixed to one side of the U-shaped platform 211 by bolts. A slide module 225 is installed above the load-bearing platform 223, and a slide 226 is slidably connected to the slide module 225. A rotating motor 224 is installed on the slide 226. A flange 227 is fixed to one end of the output shaft of the rotating motor 224, and an E-shaped frame 221 is fixed to one side of the flange 227. A plurality of cutting motors 228 are installed in the E-shaped frame 221, and a cutting blade 222 is fixed to one end of the output shaft of the plurality of cutting motors 228.

[0034] Example 2

[0035] Based on Example 1, please refer to Figure 6The mobile chassis 1 includes a chassis shell 11 and a chassis frame 12. The chassis shell 11 is sleeved and fixed on the chassis frame 12. Driven wheels 13 are installed at the four corners of the bottom of the chassis frame 12. Drive wheels 15 are installed on both sides of the middle position of the bottom of the chassis frame 12 through drive wheel mounting seats 14. Drive motors 16 are installed on one side of the chassis frame 12 corresponding to the two drive wheels 15. One end of the output shaft of the two drive motors 16 is respectively connected and fixed to one end of the rotating shaft of the drive wheel 15 on the corresponding side. An emergency stop switch 17 is provided on one side of the top of the chassis shell 11. Multiple antennas 18 are provided on the side of the top of the chassis shell 11 away from the emergency stop switch 17. A warning light 19 is provided on the side of the top of the chassis shell 11 corresponding to the multiple antennas 18. Multiple ultrasonic radars (not shown in the figure) are installed on the front and rear sides of the chassis shell 11.

[0036] Example 3

[0037] Based on Examples 1 and 2, please refer to Figure 9 The console 4 includes a control panel 41 and a display screen 42 . Both the control panel 41 and the display screen 42 are mounted on the rear side of the lifting bracket 32 ​​, and the display screen 42 is located above the control panel 41 . A plurality of control buttons are provided on the control panel 41 .

[0038] Working principle:

[0039] The picking robot walks along the red ribbon on the ground from the starting point and stops when it reaches the vicinity of the mushroom rack. The blade picking mechanism 2 is driven up and down by the screw lifting mechanism 3 to adjust the height of the picking component 22 and align it with the target picking shelf. Each guide of the E-shaped frame 221 in the picking component 22 (i.e. the upper, middle and lower baffles of the E-shaped frame) corresponds to the growth gap of two rows of king oyster mushrooms. After the slide module 225 is started, the E-shaped frame 221 and the cutting blade 222 are sent to the picking area closer to the root of the king oyster mushroom. The cutting motor 228 drives the cutting blade 222 to rotate to cut and pick the king oyster mushrooms. There are four cutting blades 222. When the blades rotate, the picking robot The picking mechanism 22 is moved step by step, and four layers of king oyster mushrooms can be cut at the same time. When one row of mushroom racks is cut, the E-shaped rack 221 and the cutting blade 222 are driven by the rotating motor 224 to reverse 180 degrees, and then the lifting motor 34 drives the picking component 22 to rise and align with the four-layer mushroom rack above. The picking component 22 is moved to the king oyster mushroom rack of the next layer to carry out the picking work. After the picking is completed in the same vertical direction, the screw lifting mechanism 3 is moved left and right by the mobile chassis 1 and the blade picking mechanism 2 is driven to move synchronously to adjust the left and right position of the picking component 22. The above picking steps are repeated, and the "S"-shaped picking strategy is used to complete the picking of king oyster mushrooms in all layers and all areas.

[0040] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed within the present invention. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0041] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A mobile king oyster mushroom picking robot, comprising a mobile chassis (1), a blade picking mechanism (2), a screw lifting mechanism (3) and a control console (4), wherein the screw lifting mechanism (3) is mounted on the mobile chassis (1), and the blade picking mechanism (2) is mounted on the screw lifting mechanism (3), characterized in that: The blade picking mechanism (2) comprises a lifting component (21) and a picking component (22), wherein the picking component (22) is arranged on one side of the lifting component (21), and the lifting component (21) is used to drive the picking component (22) to move up and down to adjust the picking height; The picking assembly (22) includes a load-bearing platform (223), a slide module (225) is installed above the load-bearing platform (223), a slide module (226) is slidably connected to the slide module (225), a rotating motor (224) is installed on the slide (226), a flange (227) is fixed to one end of the output shaft of the rotating motor (224), an E-shaped frame (221) is fixed to one side of the flange (227), a plurality of cutting motors (228) are installed in the E-shaped frame (221), and a cutting blade (222) is fixed to one end of the output shaft of the plurality of cutting motors (228).

2. The mobile King Oyster Mushroom picking robot according to claim 1, characterized in that: The mobile chassis (1) comprises a chassis shell (11) and a chassis frame (12); the chassis shell (11) is sleeved and fixed on the chassis frame (12); driven wheels (13) are installed at the four corners of the bottom of the chassis frame (12); driving wheels (15) are installed on both sides of the middle position of the bottom of the chassis frame (12) through driving wheel mounting seats (14); driving motors (16) are installed on one side of the chassis frame (12) corresponding to the two driving wheels (15); one end of the output shaft of the two driving motors (16) is respectively connected and fixed to one end of the rotating shaft of the driving wheel (15) on the corresponding side.

3. The mobile King Oyster Mushroom picking robot according to claim 2, characterized in that: The screw lifting mechanism (3) comprises a screw (31) and a lifting bracket (32). The lifting bracket (32) is a U-shaped structure, and the screw (31) is rotatably connected to the front end of the lifting bracket (32). The lifting bracket (32) is provided with guide rails (33) at both left and right ends corresponding to one side of the screw (31). The bottom end of the lifting bracket (32) is fixed to the mobile chassis (1) through a mounting plate (35), and a lifting motor (34) is installed above the mounting plate (35) on one side corresponding to the screw (31). A sprocket (36) is fixed to one end of the output shaft of the lifting motor (34) and one end of the screw (31). The two sprockets (36) are connected by a chain (37).

4. The mobile King Oyster Mushroom picking robot according to claim 3, characterized in that: The lifting assembly (21) is sleeved on the front side of the lifting bracket (32), and the lifting assembly (21) includes a U-shaped platform (211) and a back plate (212). The U-shaped platform (211) and the back plate (212) are connected to form a U-shaped structure that passes through from top to bottom. A nut sleeve (214) is provided inside the U-shaped platform (211), and the nut sleeve (214) is threadedly connected to the screw rod (31). A nut seat (213) is fixed on the nut sleeve (214). Vertical plates (215) are fixed on both sides of the nut seat (213). A slider (216) is fixed on one side of each of the two vertical plates (215). The two sliders (216) are respectively slidably connected to the guide rail (33) on the corresponding side.

5. The mobile King Oyster Mushroom picking robot according to claim 4, characterized in that: The load-bearing platform (223) is fixed to one side of the U-shaped platform (211) by means of bolts.

6. The mobile King Oyster Mushroom picking robot according to claim 5, characterized in that: An emergency stop switch (17) is provided on one side of the top of the chassis vehicle shell (11), a plurality of antennas (18) are provided on a side of the top of the chassis vehicle shell (11) away from the emergency stop switch (17), a warning light (19) is provided on a side of the top of the chassis vehicle shell (11) corresponding to the plurality of antennas (18), and a plurality of ultrasonic radars are installed on both the front and rear sides of the chassis vehicle shell (11).

7. The mobile King Oyster Mushroom picking robot according to claim 6, characterized in that: The console (4) comprises a control panel (41) and a display screen (42). Both the control panel (41) and the display screen (42) are mounted on the rear side of the lifting bracket (32), and the display screen (42) is located above the control panel (41). A plurality of control buttons are provided on the control panel (41).

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