Mushroom picking device

Abstract

The utility model discloses a mushroom picking device, and belongs to the technical field of mushroom picking. Comprising a moving frame, a picking part, a collecting part and a root cutting part, and the picking part comprises a moving part and a manipulator; when the device is used, the positions of mushrooms with the growth height reaching the standard are detected firstly, then the manipulator touches the mushroom root rods for positioning and downward insertion, the adjacent mushrooms on the peripheries of the mushroom root rods are separated along the mushroom root rods, then artificial conical cutting is conducted on the mushroom roots through root cutting, and the mushrooms with the cut roots are put into the collecting part. According to the utility model, automatic mushroom harvesting of the planting bed can be realized, and adjacent mushrooms at the roots of the mushrooms can be separated, so that the loss of mushroom root growth is reduced; the technical problems that the number of long roots of mushrooms is reduced, the edible amount of a single mushroom plant is reduced, economic benefits are reduced and adjacent mushrooms growing in an attached mode are prone to being damaged due to the fact that traditional uniform mushroom harvesting is conducted in a mode of directly conducting ring cutting or direct cutting on the mushrooms are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a mushroom picking device. BACKGROUND

[0002] Edible mushroom is rich in nutrients, including protein, fat, carbohydrates, crude fiber, polysaccharides, folic acid, niacin, carotene, vitamins and other nutrients. Long root type mushroom (such as chicken mushroom, black skin chicken mushroom, etc.), its rhizome is the main edible part, and it is appropriate to be harvested for eating when the umbrella structure on the upper part is not fully opened; in order to improve economic benefits, the long root part of the long root type mushroom needs to be increased, and the whole mushroom is usually pulled out when the long root type mushroom is artificially harvested, and the root part of the mushroom is cut into a conical shape to remove the surface soil and minimize the loss of the root part of the mushroom. With the progress of technology, more and more mushrooms are planted mechanically, and the main picking device is used for mushroom picking, which can improve the picking efficiency and reduce the labor of farmers. For example, the publication number CN114830971A- a chicken mushroom automatic picking method, device and medium, the growth monitoring module is used to identify the maturity of the chicken mushroom in the mushroom box and locate the mature chicken mushroom through the 4D millimeter wave imaging radar, and the mature chicken mushroom is graded based on the preset chicken mushroom quality grading standard; the slide rail structure module is used to control the growth monitoring module, the ring-shaped harvesting module and the mushroom transmission module fixed on the slide rail structure module to slide on the planting plane according to the preset cruise interval; the ring-shaped harvesting module is used to receive the mushroom information sent by the growth monitoring module, and the chicken mushroom is picked up by the ring-shaped harvester according to the corresponding positioning of the chicken mushroom; the mushroom transmission module is used to transmit the picked chicken mushroom to the corresponding grade mushroom storage box through the transmission pipeline according to the corresponding grade of the chicken mushroom, saving human resources. For example, the publication number CN116998363A- a mushroom picking device, which includes a mechanical hand, a mechanical claw and a collecting frame, and also includes a turnover mechanism, a rotating mechanism, a cutting mechanism and a material guiding mechanism. The turnover mechanism, the cutting mechanism and the material guiding mechanism are arranged on the mechanical hand and are driven to move by the mechanical hand. The rotating mechanism is arranged on the turnover mechanism and is driven to turn in the vertical plane by the turnover mechanism. The mechanical claw is arranged on the rotating mechanism and is driven to rotate in the horizontal plane by the rotating mechanism. The cutting mechanism is used to cut the mushroom held by the upwardly turned mechanical claw. The material guiding mechanism is used to guide the mushroom held by the upwardly turned mechanical claw into the collecting frame. In the above-mentioned prior art, the artificial harvesting cannot be simulated as much as possible, and the harvesting is carried out by directly cutting or removing the mushroom at the position where the mushroom is located on the soil surface, which reduces the long root part of the mushroom, reduces the edible amount of single mushroom and reduces the economic benefits. Moreover, the mushrooms often grow with adjacent mushrooms. The traditional harvesting device cannot separate the adjacent mushrooms well, and the mechanical hand picking is easy to damage the adjacent mushrooms, causing waste. Therefore, it is necessary to improve the existing mushroom harvesting device, reduce the loss of single mushroom root, improve the economic benefits, and reduce the damage to the adjacent mushrooms growing together. Therefore, it is necessary to improve the existing mushroom harvesting device, reduce the loss of single mushroom root, improve the economic benefits, and reduce the damage to the adjacent mushrooms growing together. SUMMARY

[0003] The utility model discloses a mushroom picking device, which solves the technical problem of the traditional mushroom picking method of cutting or removing directly, reduces the length of the mushroom root, reduces the edible amount of single mushroom, reduces economic benefits and causes damage to the adjacent growing mushrooms.

[0004] To achieve the above object, the utility model adopts the technical scheme of:

[0005] A mushroom picking device comprises

[0006] A moving frame can move along the length direction of the mushroom planting bed; first sensors are arranged on the lower part of the two sides of the moving frame; the first sensors can detect the height of the growing mushrooms and the position of the mushrooms in the length direction of the mushroom planting bed;

[0007] A picking part comprises a moving part and a mechanical hand; the moving part is arranged on the moving frame; the mechanical hand is arranged on the moving part; the moving part drives the mechanical hand to move along the width direction and the vertical direction of the mushroom planting bed; a clamping jaw is arranged at the lower end of the mechanical hand; the clamping end of the clamping jaw is arc-shaped; the clamping end is connected with a touch sensing module; a second sensor is arranged on the mechanical hand; the second sensor detects the position of the mushrooms with the standard height in the width direction of the mushroom planting bed;

[0008] A collecting part is arranged on the moving frame; the collecting part can be close to or away from the mechanical hand; a collecting frame is arranged on the collecting part; the mechanical hand can put the mushrooms with the roots cut into the collecting frame;

[0009] A root cutting part is arranged on the collecting part; a conical ring cutter is arranged on the root cutting part; the mechanical hand can insert the root of the mushroom into the conical ring cutter.

[0010] Further, parallel tracks are arranged on the two sides of the length direction of the mushroom planting bed; a plurality of moving wheels are arranged on the two sides of the moving frame; the moving wheels drive the moving frame to move along the tracks.

[0011] Further, the tracks are conductive tracks; conductive wheels are arranged on the moving frame; the conductive wheels are electrically connected with the conductive tracks; the moving frame, the picking part, the collecting part and the root cutting part are all connected with the conductive wheels and the conductive tracks for electricity.

[0012] Further, the mushroom planting bed is arranged on a planting frame; a plurality of layers of mushroom planting beds are arranged on the planting frame; a complete set of the moving frame, the picking part, the collecting part and the root cutting part are arranged on each layer of the mushroom planting beds.

[0013] Further, a plurality of the planting frames can be spliced along the length direction of the mushroom planting bed, and the conductive tracks on adjacent planting frames are conductively connected; the complete set of the moving frame, the picking part, the collecting part and the root cutting part can be moved to above the same height layer of the mushroom planting bed through the connected conductive tracks.

[0014] Further, the collecting part is provided with a root cutting frame on one side, and the root cutting part is installed in the root cutting frame.

[0015] Further, the root cutting frame comprises a mounting frame, a third motor, a conical ring cutting knife and a ring cutting root knife, the mounting frame is fixedly installed in the root cutting frame, the third motor is fixedly installed on the mounting frame, the conical ring cutting knife is installed on the output shaft of the third motor with an upward opening, and the ring cutting root knife is installed on the outer edge of the opening of the conical ring cutting knife.

[0016] Further, the lower part of the root frame and the lower part of the collecting frame are provided with a discharge port, and an opening and closing structure is arranged on the discharge port; the opening and closing structure comprises a fifth motor, a rotating shaft and a plurality of opening and closing plates, the fifth motor is installed on the collecting part and drives the rotating shaft to rotate, one side of the opening and closing plate is fixedly connected with the outer periphery of the rotating shaft, and the rotating shaft drives the opening and closing plate to open or close the discharge port.

[0017] Further, it further comprises a stacking part, the stacking part comprises a lifting device and a plurality of stacking frames, the lifting device is arranged outside the mushroom planting bed, and the moving frame can be moved above the stacking part; a plurality of the stacking frames are arranged on the upper part of the lifting device, and a plurality of the stacking frames correspond one by one to the discharge ports.

[0018] Further, the moving part comprises a first linear motion module and a second linear motion module, the first linear motion module is installed on the moving frame along the width direction of the mushroom planting bed, and a first sliding block is arranged on the first linear motion module; the second linear motion module is installed on the first sliding block along the vertical direction, a second sliding block is arranged on the second linear motion module, and the mechanical hand is installed on the second sliding block.

[0019] Further, the second linear motion module is provided with a diameter detection sensor at the lower end, the diameter detection sensor can detect the diameter of the mushroom clamped by the mechanical hand; the collecting frame is provided with a plurality of collecting frames, each of which collects mushrooms within a certain diameter range.

[0020] Further, the mechanical hand comprises a first motor, a second motor, a fixed plate, a moving ring and two clamping and grabbing assemblies, the clamping and grabbing assembly comprises a connecting column, a movable piece, a connecting rod and a clamping jaw, the first motor is fixedly connected with the moving part through an extension plate, the second motor is coaxially fixedly arranged on the output shaft of the first motor through a transmission plate, the fixed plate is arranged on the body of the second motor, the output shaft of the second motor is a threaded shaft, and the moving ring is screwed on the output shaft of the second motor.

[0021] Further, the moving frame is provided with third linear motion modules arranged along the length direction of the mushroom planting bed on the two sides, and the collecting part is fixedly connected with the third sliding blocks on the two ends.

[0022] A mushroom picking method comprises the following steps:

[0023] S1: moving along the length direction of the mushroom planting bed, performing scanning detection on the linear direction parallel to the width of the mushroom planting bed, determining the growth height of the mushroom, and determining the position of the mushroom along the length direction of the mushroom planting bed;

[0024] S2: moving along the width direction of the mushroom planting bed at the position of the mushroom planting bed along the length direction determined in step S1, detecting the position of the mushroom with the standard height along the width direction of the mushroom planting bed, and realizing the positioning of the mushroom with the standard height;

[0025] S3: opening the clamping end of the mechanical hand and moving to the position of the mushroom determined in steps S1 and S2, moving the clamping end of the mechanical hand downward by a distance, closing the clamping end to touch the root rod of the mushroom, stopping the clamping end of the mechanical hand, and moving the root part of the mushroom outward and away from the adjacent mushroom again;

[0026] S4: closing the clamping end of the mechanical hand again, clamping the root rod of the mushroom, and picking out the mushroom by moving upward;

[0027] S5: detecting the diameter of the root rod of the mushroom close to the clamping position, determining the grade of the mushroom, and putting the mushroom into the corresponding collecting frame after cutting the root.

[0028] Due to the adoption of the above technical scheme, the mushroom picking device has the following beneficial effects:

[0029] 1. The utility model can be erected on the mushroom planting bed and used, and multiple layers of the mushroom planting bed structure are erected with multiple utility models; during use, the positions of the mushrooms with the growth height up to the standard are detected first, then the mechanical hand inserts the root rod of the mushroom by touching and positioning, realizes the separation of the adjacent mushrooms along the root rod of the mushroom and the periphery of the root rod, and then the root part of the mushroom is cut to realize artificial taper cutting, and the mushrooms with the root part cut are put into the collecting part. Based on the above, the utility model can realize the automatic harvesting of the mushrooms on the planting bed, can separate the adjacent mushrooms of the root part of the mushroom at the same time, can reduce the loss of the long roots of the mushrooms, can reduce the damage to the adjacent mushrooms growing together at the same time, can solve the technical problems of the traditional mushroom harvesting mode, can realize the harvesting mode of directly cutting around the mushrooms or directly cutting off, can reduce the amount of the long roots of the mushrooms, can reduce the edible amount of the single mushroom, can reduce the economic benefits, and can easily cause damage to the adjacent mushrooms growing together.

[0030] 2. The utility model discloses a track type setting, and the device can be applied to the mushroom planting bed with a large length. The device can reduce the device cable equipment, simplify the on-site environment, and adopt a transformer for low-voltage power supply during power supply, so that electric shock hazards are not easy to occur. The multiple layers of the mushroom planting bed are erected on a planting frame, realize the use of height space, and are convenient for the replacement of the planting frame when the planting bed needs to be replaced to improve the yield at the end of a season of mushrooms. The stacking and collecting part can be lifted to the collecting frame below the corresponding height, the opening and closing structure at the lower part of the collecting frame is opened, the mushrooms and the cutting root materials can be stacked together, the mushrooms and the cutting root materials in the multiple layers of the collecting frame are convenient to take out, and the taking out of the mushrooms and the cutting root materials does not affect the harvesting work of the device at the same time.

[0031] 3. The utility model discloses a plurality of linear motion modules, which simplify the moving structure of the mechanical hand and the collecting part. The diameter detection sensor can detect the diameter of the mushroom, realize the detection and classification of the size of the mushroom, and further reduce the work of the workers in the mushroom picking process.

[0032] 4. The utility model discloses a mechanical hand, can realize the picking of the mushroom, separate the adjacent mushrooms, realize the multifunctional effect, the spring steel material is made into the clamping jaw, can be elastic in the diameter of the mushroom root rod when separating the adjacent mushrooms, prevent the mushroom root rod from being damaged, or prevent the mushroom from being inserted into the soil by the clamping jaw, improve the reliability. The first motor can drive the lower part of the mechanical hand to rotate, realize the separation of the adjacent mushrooms around the mushroom root rod, improve the separation effect of the adjacent mushrooms, facilitate the pulling out of the mushroom, reduce the clamping force of the mechanical hand, and prevent the mushroom from being clamped. DRAWINGS

[0033] Figure 1Three-dimensional structure diagram of picking part of the utility model;

[0034] Figure 2 Three-dimensional structure diagram of picking part of the utility model;

[0035] Figure 3 Three-dimensional structure diagram of mechanical hand of the utility model;

[0036] Figure 4 Three-dimensional structure diagram of collecting part and moving frame of the utility model;

[0037] Figure 5 Three-dimensional structure diagram of bottom of collecting part of the utility model;

[0038] Figure 6 Three-dimensional structure diagram of root cutting part of the utility model;

[0039] Figure 7 Three-dimensional structure diagram of stacking part of the utility model;

[0040] Figure 8 Structure block diagram of control system of the utility model;

[0041] Figure 9 Flow block diagram of picking of the utility model.

[0042] In the drawings, 1-moving frame, 2-picking part, 3-collecting part, 4-root cutting part, 5-stacking part, 6-planting frame, 101-first sensor, 102-stand, 103-fourth motor, 104-moving wheel, 105-conductive wheel, 106-third linear motion module, 107-third sliding block, 201-moving part, 202-mechanical hand, 203-first linear motion module, 204-second linear motion module, 205-first sliding block, 206-second sliding block, 207-diameter detection sensor, 208-first motor, 209-second motor, 210-fixed plate, 211-moving ring, 212-clamping and grabbing assembly, 213-connection column, 214-moving part, 215-connection rod, 216-clamping jaw, 217-extension plate, 218-excess plate, 219-wiring column, 220-side scraping gear, 221-insulating block, 222-touching sensing module, 223-threaded shaft, 224-second sensor, 225-rotating piece, 226-fourth photoelectric sensor, 301-collecting frame, 302-root cutting frame, 303-fifth motor, 304-rotating shaft, 305-opening and closing plate, 306-bearings seat, 401-mounting frame, 402-third motor, 403-tapered ring cutting knife, 404-cutting mouth, 405-cutting edge, 406-ring root cutting knife, 501-lifting device, 502-stacking frame, 601-mushroom planting bed, 602-rail, 603-transformer, 604-insulating sheet. DETAILED DESCRIPTION

[0043] The utility model is further illustrated in detail with reference to the drawings.

[0044] In the description of the utility model, it is understood that the orientation or position relationship indicated by the terms "center", "length", "width", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0045] In the utility model, unless specifically defined and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrated; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements or the interaction relationship of two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0046] In the utility model, unless specifically defined and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or can include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "above" and "on" of the first feature to the second feature include that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "under" and "under" of the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0047] Please refer to Figures 1 to 7The application discloses a mushroom picking device, which comprises a moving frame 1, a picking part 2, a collecting part 3 and a root cutting part 4. The moving frame 1 can move along the length direction of a mushroom planting bed 601, and the moving frame 1 is in a rectangular frame structure. Vertical stand poles 102 are arranged on the two sides of the moving frame 1, and a first sensor 101 is arranged at the lower end of each stand pole 102. The first sensor 101 can detect the mushroom with a standard growth height and the position of the mushroom in the length direction of the mushroom planting bed 601. Parallel rails 602 are arranged on the two sides in the length direction of the mushroom planting bed 601, and a plurality of moving wheels are arranged on the two sides of the moving frame 1. The moving wheels drive the moving frame 1 to move along the rails 602. The picking part 2 comprises a moving part 201 and a mechanical hand 202. The moving part 201 is arranged on the moving frame 1, and the mechanical hand 202 is arranged on the moving part 201. The moving part 201 drives the mechanical hand 202 to move in the width direction and the vertical direction of the mushroom planting bed 601. A clamping jaw 216 is arranged at the lower end of the mechanical hand 202. The clamping end of the clamping jaw 216 is in an arc shape, and the clamping end is connected with a collision sensing module 222 through a conductive wire. A second sensor 224 is arranged on the mechanical hand 202. The second sensor 224 detects the position of the mushroom with a standard height in the width direction of the mushroom planting bed 601. The collecting part 3 is arranged on the moving frame 1, and the collecting part 3 can be close to or away from the mechanical hand 202. A collecting frame 301 is arranged on the collecting part 3. The mechanical hand 202 can put the mushroom with a cut root into the collecting frame 301. The root cutting part 4 is arranged on the collecting part 3, and a conical ring cutter 403 is arranged on the root cutting part 4. The mechanical hand 202 can insert the root of the mushroom into the conical ring cutter 403. Specifically, the first sensor 101 is an infrared opposite-acting sensor, and the second sensor 224 is an infrared sensor with an adjustable sensing distance.

[0048] In the embodiment, the rail 602 is a conductive rail 602, a conductive wheel 105 is arranged on the moving frame, the conductive wheel 105 is electrically connected with the conductive rail 602, and the conductive rail 602 is insulated from the planting frame through an insulating sheet 604. The moving frame 1, the picking part 2, the collecting part 3 and the root cutting part 4 are all connected with power supply through the conductive wheel 105 and the conductive rail 602. Specifically, a transformer 603 is connected with the conductive rail 602 when power supply is adopted. The transformer 603 converts commercial power into low-voltage power supply below 60V, so that electric shock hazards are not easy to occur.

[0049] In the embodiment, the mushroom planting bed 601 is arranged on the planting frame 6, and the planting frame 6 is provided with a plurality of layers of mushroom planting beds 601 arranged alternately, and each layer of mushroom planting bed 601 is provided with a complete set of the moving frame 1, the picking part 2, the collecting part 3 and the root cutting part 4. A plurality of planting frames 6 can be arranged in series along the length direction of the mushroom planting bed 601, and the conductive tracks 602 on adjacent planting frames 6 are conductively connected; the complete set of the moving frame 1, the picking part 2, the collecting part 3 and the root cutting part 4 can be moved to the upper side of the mushroom planting bed 601 at the same height through the connected conductive tracks 602.

[0050] In the embodiment, the lower part of the root frame and the lower part of the collecting frame 301 are provided with a discharge port, and the discharge port is provided with an opening and closing structure; the opening and closing structure comprises a fifth motor 303, a rotating shaft 304 and a plurality of opening and closing plates 305, the fifth motor 303 is arranged on the collecting part 3 and drives the rotating shaft 304 to rotate, one side of the opening and closing plate 305 is fixedly connected with the outer periphery of the rotating shaft 304, and the rotating shaft 304 drives the opening and closing plate 305 to open or close the discharge port, specifically, the rotating shaft 304 is rotatably connected with the lower part of the collecting frame 301 through a plurality of bearing seats 306.

[0051] In the embodiment, the stacking part 5 is further included, the stacking part 5 comprises a lifting device 501 and a plurality of stacking frames 502, the lifting device 501 is arranged outside the mushroom planting bed 601 and the moving frame 1 can be moved to the upper side of the stacking part 5; the plurality of stacking frames 502 are arranged on the upper part of the lifting device 501, and the plurality of stacking frames 502 correspond to the discharge ports one by one. When the collecting frame 301 returns after collecting a round of mushrooms, the lifting device 501 drives the stacking frame 502 to ascend and approach the corresponding collecting frame 301, the opening and closing structure of the collecting frame 301 at this layer is opened, the mushrooms and the cut roots enter the corresponding stacking frame 502, and multi-layer collection is realized. It can be understood that when the lifting device 501 drives the stacking frame 502 to ascend and collect the material of the collecting frame 301 at the upper layer, the collecting frame 301 at the lower layer can be avoided through the program setting of the prior art.

[0052] In this embodiment, the mobile wheel 104 is mainly used to bear the weight of the moving frame 1, the picking part 2, the collecting part 3 and the root cutting part 4 installed on the moving frame 1 and move the moving frame 1, and the mobile wheel 104 is driven by the fourth motor 103. The moving frame 1 is provided with anti-collision infrared sensors at both ends in the moving direction, and the track 602 is provided with position sensors at both ends where the moving frame 1 moves to the limit position. When the anti-collision infrared sensor is triggered, the fourth motor 103 stops to avoid the moving frame 1 from colliding with an object and causing loss; when the position sensor senses the moving frame 1, the fourth motor 103 stops or makes the moving frame 1 move in the opposite direction. One end of the track 602 of the mushroom planting bed 601 is extended out of the mushroom planting bed 601, and the extended track 602 is the initial placement position of the moving frame 1.

[0053] In this embodiment, the machine moving part 201 includes a first linear motion module 203 and a second linear motion module 204, the first linear motion module 203 is installed on the moving frame 1 along the width direction of the mushroom planting bed 601, and the first linear motion module 203 is provided with a first sliding block 205; the second linear motion module 204 is installed on the first sliding block 205 along the vertical direction, the second linear motion module 204 is provided with a second sliding block 206, and the mechanical hand 202 is installed on the second sliding block 206. The first linear motion module 203 is also provided with a first photoelectric sensor, the first photoelectric sensor corresponds to the position of the root cutting part 4, and when the first sliding block 205 moves to the first photoelectric sensor, the mechanical hand 202 faces the root cutting part 4 along the length direction of the mushroom planting bed 601. The second linear motion module 204 is provided with a second photoelectric sensor, and when the second sliding block 206 moves to the second photoelectric sensor, the lower end of the mechanical hand 202 is higher than the upper end of the conical ring cutter 403.

[0054] In this embodiment, the second linear motion module 204 is provided with a diameter detection sensor 207 at the lower end, and the diameter detection sensor 207 can detect the diameter of the mushroom clamped by the mechanical hand 202; specifically, the diameter detection sensor 207 is two infrared distance sensors. The collecting frame 301 is provided with a plurality of collecting frames 301, each collecting frame 301 collects mushrooms within a certain diameter range. Specifically, the collecting frame 301 is three, and the mushrooms are divided into three grades according to the diameter.

[0055] In the embodiment, the manipulator 202 comprises a first motor 208, a second motor 209, a fixed plate 210, a moving ring 211 and two clamping and grabbing assemblies 212, the clamping and grabbing assembly 212 comprises a connecting column 213, a movable part 214, a connecting rod 215 and a clamping jaw 216, the first motor 208 is fixedly connected with the moving part 201 through a bent part, an extension plate 217, the second motor 209 is coaxially fixedly arranged on the output shaft of the first motor 208 through a passing plate 218, the fixed plate 210 is arranged on the body of the second motor 209, the output shaft of the second motor 209 is a threaded shaft 223, the moving ring 211 is screwed on the output shaft of the second motor 209; the two clamping and grabbing assemblies 212 are symmetrically arranged, the upper end of the connecting column 213 is fixedly connected with an outer side, the lower end of the connecting column 213 is hingedly connected with the movable part 214; one end of the connecting rod 215 is hingedly connected with the movable part 214, the other end of the connecting rod 215 is hingedly connected with the moving ring 211; the upper end of the clamping jaw 216 is connected with the lower part of the movable part 214 through an insulating block 221, the insulating block 221 is provided with a terminal post 219 in communication with the upper end of the clamping jaw 216, and the touch sensing module 222 is connected with the clamping jaw 216 through the terminal post 219. Specifically, the clamping jaw 216 is made of spring steel material, and the two sides of the lower end of the clamping jaw 216 are provided with side scraping teeth 220. Specifically, the touch sensing module 222 realizes touch detection by detecting the resistance or capacitance between the two clamping jaws 216, when the two clamping jaws 216 contact the mushroom root rod, the capacitance or resistance between the two clamping jaws 216 changes suddenly, at this time, the second motor 209 stops, that is, the touch of the clamping jaw 216 stops. It should be noted that the circuit detects the change of the capacitance or resistance between two objects to realize an electric control signal, which is a mature technology, and the specific circuit setting of the touch sensing module 222 will not be described herein. In the embodiment, the first motor 208 is a double-head output shaft motor, the other end of the output shaft of the first motor 208 is provided with a rotating piece 225, the rotating piece 225 is provided with a notch, the extension plate 217 is provided with a fourth photoelectric sensor 226, when the first motor 208 rotates, the fourth photoelectric sensor 226 can detect the edge of the notch, so as to realize the control of the rotating angle of the first motor 208. The specific working principle of the manipulator 202 is that the first motor 208 controls the clamping and grabbing assembly 212 to rotate in the vertical direction in the process of separating the attached mushrooms, the second motor 209 drives the moving ring 211 to move in the vertical direction through the spiral conversion into linear motion, and pulls the connecting rod 215 to move, so that the inner side of the movable part 214 can move up and down, and then drives the clamping jaw 216 to open and close, so as to realize the functions of picking and touching and separating the attached mushrooms.

[0056] In the embodiment, the mobile frame 1 is provided with a third linear motion module 106 arranged along the length direction of the mushroom planting bed 601 on both sides, the third linear motion module 106 is provided with a third sliding block 107, and the collecting part 3 is fixedly connected with one third sliding block 107 at each end. The third linear motion module 106 is provided with two third photoelectric sensors, when the third linear motion module 106 makes the collecting part 3 reach the limit position away from the mechanical hand 202, the third sliding block 107 triggers one photoelectric sensor; when the third linear motion module 106 makes the collecting part 3 reach the limit position close to the mechanical hand 202, the third sliding block 107 triggers the other photoelectric sensor, at this time, the mechanical hand 202 is located directly above the conical ring cutter 403.

[0057] In the embodiment, the collecting part 3 is provided with a root cutting frame 302 on one side, and the root cutting part 4 is arranged in the root cutting frame 302. The root cutting frame 302 comprises a mounting frame 401, a third motor 402, a conical ring cutter 403 and a ring root cutter 406, the mounting frame 401 is fixedly arranged in the root cutting frame 302, the third motor 402 is fixedly arranged on the mounting frame 401, the conical ring cutter 403 is arranged on the output shaft of the third motor 402 with an upward opening, and the ring root cutter 406 is arranged on the outer edge of the opening of the conical ring cutter 403. Specifically, the conical ring cutter 403 is provided with a conical cavity with an upward opening, a plurality of cutting ports 404 are arranged on the side wall of the conical cavity, a sharp cutting edge 405 is arranged on one side of the cutting port 404, and the outer periphery of the ring root cutter 406 is provided with a tooth-shaped cutter. In use, the lower part of the mushroom with longer length and more soil is first cut off by the ring root cutter 406, and then the lower part of the mushroom is conically cut clean by the conical ring cutter 403.

[0058] Please refer to Figure 8The control system in each set of the moving frame 1, the picking part 2, the collecting part 3 and the root cutting part 4 in the embodiment comprises a controller, and the controller is provided with a start button, a pause button and a stop button. The control system is controlled by an STM32 chip single-chip microcomputer circuit board, and a plurality of interfaces are arranged on the circuit board. The circuit board is connected with electronic elements on the moving frame 1, the picking part 2, the collecting part 3 and the root cutting part 4 through the interfaces. Specifically, the control system is connected with the first sensor 101, the diameter detection sensor 207, the second sensor 224, the fourth photoelectric sensor 226, the first photoelectric sensor, the second photoelectric sensor, the third photoelectric sensor and the anti-collision infrared sensor arranged at four corners of the moving frame 1 through the interfaces. The third linear motion module 106, the first linear motion module 203 and the second linear motion module 204 in the embodiment are motor-driven linear motion modules. The control system is connected with the motors of the third linear motion module 106, the first linear motion module 203 and the second linear motion module 204 through the interfaces, controls the forward and reverse rotation of the motors and realizes the forward and reverse movement of the linear motion modules. The control system is connected with the first motor 208, the second motor 209, the third motor 402, the fourth motor 103 and the fifth motor 303 through the interfaces, controls the forward and reverse rotation of the first motor 208, the second motor 209, the fourth motor 103 and the fifth motor 303 and realizes corresponding functions. The control system is connected with the third motor 402 through the interfaces, controls the rotation of the third motor 402 and realizes the root cutting function.

[0059] Please refer to Figure 9 A mushroom picking method comprises the following steps:

[0060] S1: moving along the length direction of the mushroom planting bed 601, performing scanning detection on the linear direction parallel to the width of the mushroom planting bed 601, determining the growth height of the mushroom, and determining the position of the mushroom along the length direction of the mushroom planting bed 601;

[0061] S2: moving along the width direction of the mushroom planting bed 601 at the position determined in step S1, detecting the position of the mushroom with the standard height in the width direction of the mushroom planting bed 601, and realizing the positioning of the mushroom with the standard height;

[0062] S3: opening and moving the clamping end of the manipulator 202 to the position of the mushroom determined in steps S1 and S2; moving the clamping end of the manipulator 202 downward by a distance, then closing the clamping end to touch the root rod of the mushroom, and stopping the clamping end of the manipulator 202; moving the clamping end of the manipulator 202 downward again to separate the root of the mushroom from the adjacent mushroom;

[0063] S4: closing the clamping end of the manipulator 202 again, clamping the root rod of the mushroom, and moving upward to pick out the mushroom;

[0064] S5: detecting the diameter of the mushroom stem near the clamping position, determining the grade of the mushroom, and placing the cut roots into the corresponding collection box 301.

[0065] Specifically, the specific working principle of the multi-layer mushroom picking of the embodiment is as follows:

[0066] 1. The moving frame 1 moves along the length direction of the mushroom planting bed 601, driving the first sensor 101 to scan and detect the linear direction parallel to the width of the mushroom planting bed 601 at a standard height. When the first sensor 101 scans a mushroom growing to a standard height on the mushroom planting bed, the first sensor 101 is triggered, and the moving frame 1 stops moving at this time.

[0067] 2. The first linear motion module 203 drives the mechanical hand 202 to move along the width direction of the mushroom planting bed 601. When the mechanical hand 202 moves to the upper side of the mushroom growing to a standard height, the second sensor 224 is triggered, and the first linear motion module 203 stops moving at this time.

[0068] 3. At this time, the second linear motion module 204 drives the mechanical hand 202 to move downward, so that the clamping end of the mechanical hand 202 moves downward by a distance, and then the clamping end is closed to touch the mushroom stem and is stopped under the signal control of the touch sensing module 222. Then the second linear motion module 204 drives the mechanical hand 202 to move downward by 1-2 cm and then move upward by 1-2 cm. Then the first motor 208 drives the clamping end to rotate by 90 degrees. Then the second linear motion module 204 drives the mechanical hand 202 to move downward by 1-2 cm and then move upward by 1-2 cm, so that the outer periphery of the mushroom root is separated from the adjacent mushroom.

[0069] 4. The clamping end of the mechanical hand 202 is closed again to clamp the mushroom stem. The second linear motion module 204 drives the mechanical hand 202 to move upward to pick the mushroom, and makes the mushroom root higher than the conical ring cutter 403. At the same time, the diameter detection sensor 207 detects the diameter of the mushroom stem.

[0070] 5. The first linear motion module 203 drives the mechanical hand 202 to return to the position opposite to the root cutting part 4 along the length direction of the mushroom planting bed 601. The third linear motion module 106 drives the collection part 3 to move close to the mechanical hand 202, so that the mechanical hand 202 is located above the conical ring cutter 403 at this time. Then the second linear motion module 204 drives the mechanical hand 202 to move downward, so that the lower end of the mushroom is cut by the conical cutter. Finally, the first linear motion module 203 and the second linear motion module 204 cooperate to move the mushroom to above the corresponding collection box 301, and then the mechanical hand is released, so that the picking, root cutting and classification of the mushroom are completed.

[0071] 6. Repeat the above steps 1-5, to achieve a single layer of mushroom cultivation bed 501 a round of harvesting to the specified height of the mushroom, the moving frame 1 trigger located at the end of the track 602 and position sensor back to the initial position.

[0072] 7. The lifting device 501 drive pile collection frame 502 up close to the corresponding collection frame 301, the opening and closing structure of the layer of collection frame 301 open, the mushroom and cutting root material into the corresponding pile collection frame 502, to achieve multi-layer mushroom harvesting.

[0073] The above description is for the preferred embodiment of the present application, but the embodiment is not intended to limit the scope of the patent application, any equivalent changes or modifications under the technical spirit of the present application should belong to the scope of the patent.

Claims

1. A mushroom picking device, characterised in that: The utility model provides a kind of mushroom cultivation bed automatic picking device, including mobile frame, can be moved along the length direction of mushroom cultivation bed;The first sensor is arranged in the lower part of the mobile frame, and the first sensor can detect the position of mushroom in the length direction of mushroom cultivation bed when the height of mushroom reaches standard;Picking part includes moving part and manipulator, the moving part is installed on the mobile frame, and the manipulator is installed on the moving part;The moving part drives the manipulator to move along the width direction and vertical direction of mushroom cultivation bed;The lower end of the manipulator is provided with gripper, and the clamping end of the gripper is arc-shaped, and the clamping end is connected with touch sensing module;The second sensor is arranged on the manipulator, and the second sensor detects the position of mushroom in the width direction of mushroom cultivation bed when the height reaches standard;Collecting part is installed on the mobile frame, and the collecting part can be close to or away from the manipulator;Collecting frame is arranged on the collecting part, and the manipulator can put mushroom after cutting root into the collecting frame;And cutting root part is arranged on the collecting part, and taper ring cutter is arranged on the cutting root part, and the manipulator can insert the root of mushroom into the taper ring cutter. The length direction of the mushroom cultivation bed is provided with parallel tracks on both sides, and the mobile frame is provided with a plurality of moving wheels on both sides, which drive the mobile frame to move along the tracks. The tracks are conductive tracks, and the mobile frame is provided with conductive wheels, which are electrically connected with the conductive tracks. The mushroom cultivation bed is arranged on a planting frame, and a plurality of layers of mushroom cultivation beds are arranged on the planting frame, and a complete set of mobile frame, picking part, collecting part and cutting root part are arranged on each layer of mushroom cultivation bed. A plurality of planting frames can be connected along the length direction of the mushroom cultivation bed, and the conductive tracks of adjacent planting frames are electrically connected.

2. The mushroom picking device according to claim 1, characterized in that: The collecting part is provided with a cutting root frame on one side, and the cutting root part is installed in the cutting root frame.

3. The mushroom picking device according to claim 2, characterized in that: The cutting root frame includes a mounting frame, a third motor, a taper ring cutter and a ring root cutter, the mounting frame is fixedly installed in the cutting root frame, the third motor is fixedly installed on the mounting frame, the taper ring cutter is upwardly open and installed on the output shaft of the third motor, and the ring root cutter is installed on the outer edge of the opening of the taper ring cutter.

4. The mushroom picking device according to claim 3, characterized in that: The lower part of the root frame and the lower part of the collecting frame are provided with a discharge port, and the discharge port is provided with an opening and closing structure.

5. A mushroom picking device according to claim 4, characterised in that: ​ 6. The mushroom picking device according to claim 1, wherein: ​ 7. A mushroom picking device according to claim 6, characterised in that: ​ 8. A mushroom picking device according to claim 7, characterised in that: ​ 9. A mushroom picking device according to claim 8, characterised in that: The stacking part comprises a lifting device and a plurality of stacking frames, the lifting device is arranged outside the mushroom planting bed, and the moving frame is movable above the stacking part; the plurality of stacking frames are arranged above the lifting device, and the plurality of stacking frames correspond to the discharge ports one by one.

10. The mushroom picking device according to claim 1, characterized in that: The moving part comprises a first linear motion module and a second linear motion module, the first linear motion module is arranged on the moving frame in the width direction of the mushroom planting bed, and a first sliding block is arranged on the first linear motion module; the second linear motion module is arranged on the first sliding block in the vertical direction, a second sliding block is arranged on the second linear motion module, and the mechanical hand is arranged on the second sliding block.

11. The mushroom picking device according to claim 10, characterized in that: A diameter detection sensor is arranged at the lower end of the second linear motion module, the diameter detection sensor can detect the diameter of the mushroom gripped by the mechanical hand; the collection frame is provided with a plurality of collection frames, each of which collects mushrooms within a certain diameter range.

12. The mushroom picking device according to claim 1, characterized in that: The mechanical hand comprises a first motor, a second motor, a fixed plate, a moving ring and two clamping components, the clamping component comprises a connecting column, a movable piece, a connecting rod and a clamping jaw, the first motor is fixedly connected with the moving part through an extension plate, the second motor is coaxially fixedly arranged on the output shaft of the first motor through a transition plate, the fixed plate is arranged on the body of the second motor, the output shaft of the second motor is a threaded shaft, the moving ring is screwed on the output shaft of the second motor; the two clamping components are symmetrically arranged, the upper end of the connecting column is connected with the outer side of the fixed plate, and the lower end of the connecting column is hingedly connected with the movable piece; one end of the connecting rod is hingedly connected with the movable piece, and the other end of the connecting rod is hingedly connected with the moving ring; the upper end of the clamping jaw is connected with the lower part of the movable piece through an insulating block, a terminal post in communication with the upper end of the clamping jaw is arranged on the insulating block, and the touch sensing module is connected with the clamping jaw through the terminal post; the clamping jaw is made of spring steel material, and side scraping teeth are arranged on both sides of the lower end of the clamping jaw.

13. The mushroom picking device according to claim 1, wherein: Third linear motion modules are arranged on both sides of the moving frame in the length direction of the mushroom planting bed, third sliding blocks are arranged on the third linear motion modules, and the collection part is fixedly connected with one third sliding block at each end.

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