A picking mechanism for a duality mushroom picking robot

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By designing a picking mechanism for a twin mushroom picking robot, which utilizes image recognition and suction cup components to automatically pick mushrooms, the problems of high cost, low efficiency, and damage to mushrooms caused by manual picking are solved, achieving efficient and controllable automated picking.

CN223584915UActive Publication Date: 2025-11-25SHANDONG MINGJIA TECH

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Patent Information

Application Number: CN202423277437.8
Authority / Receiving Office: CN · China
Patent Type: Utility models(China)
Current Assignee / Owner
Filing Date: 2024-12-30
Publication Date: 2025-11-25
Estimated Expiration: 2034-12-30

AI Technical Summary

Technical Problem

Manual harvesting of button mushrooms is costly, inefficient, and easily damages the mushrooms. Existing technologies make it difficult to harvest mushrooms efficiently and in a controlled manner.

Method used

Design a harvesting mechanism for a twin mushroom harvesting robot, including a harvesting arm, a harvesting head, and an image acquisition unit. The robot identifies the location of mature mushrooms through images, uses a suction cup assembly to adsorb and rotate the mushrooms to break them off, thus achieving automated harvesting.

Benefits of technology

It enables highly efficient mushroom harvesting without human intervention, reducing labor costs, increasing harvesting efficiency, and allowing for controlled force to avoid damage to the mushrooms.

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Abstract

The application provides a picking mechanism for a double-belly mushroom picking robot, which is installed on a frame of the picking robot and comprises a picking arm, a picking head and an image acquisition unit. The picking arm extends forward and backward, and a first driving mechanism for driving the picking arm to move left and right is installed on the frame at the rear end of the picking arm. The picking head comprises a sliding member, a lifting mechanism and a suction cup assembly. The sliding member is slidably connected to the picking arm and can move forward and backward. The lifting mechanism is installed on the sliding member and can drive the suction cup assembly to move up and down. The suction cup assembly comprises a suction cup with a suction port facing downward, which is rotatably installed on a suction cup mounting rack about a vertical axis of the suction cup. The image acquisition unit is located on the front side of the picking arm and comprises a camera and a second driving mechanism for driving the camera to move left and right, which is installed on the frame. The picking mechanism can intelligently identify and pick mushrooms, and the process does not require manual intervention, thereby saving labor costs. In addition, the picking force is controllable, and the mushrooms are not damaged.

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Description

TECHNICAL FIELD

[0001] The utility model relates to automatic picking technical field, concretely is a picking mechanism for double -bonnet mushroom picking robot. BACKGROUND

[0002] Agaricus bisporus is a kind of high nutritional value edible fungi, market demand is very big, so artificial cultivation is the main source of agaricus bisporus in the market.

[0003] And in the planting factory, due to its large scale, and the maturation period of agaricus bisporus is short, so after the maturation of agaricus bisporus, the planting factory often needs to hire a large number of hands to pick, and the artificial cost is high, and when picking manually, due to the high labor intensity, frequent repetition of the same action, workers are easy to fatigue, and then lead to low picking efficiency, and it is easy to control force, leading to the damage of mushroom and affecting the sale. UTILITY MODEL CONTENTS

[0004] To solve the technical problems in the above background art, the utility model provides a picking mechanism for double -bonnet mushroom picking robot.

[0005] The utility model technical scheme is as follows:

[0006] A picking mechanism for double -bonnet mushroom picking robot is installed on the rack of picking robot, including picking arm, picking head and image acquisition unit;

[0007] The picking arm extends forward and backward, and the rear end is provided with a first driving mechanism installed on the rack and driving the picking arm to move left and right;

[0008] The picking head includes a sliding member, a lifting mechanism and a suction cup assembly, the sliding member is slidingly connected to the picking arm and can move forward and backward, the lifting mechanism is installed on the sliding member and can drive the suction cup assembly to move up and down;

[0009] The lifting mechanism includes a sliding seat slidingly connected to the sliding member and a suction cup mounting rack slidingly connected to the sliding seat, the suction cup mounting rack and the sliding member are oppositely provided with vertical racks, and a moving gear is engaged between the two racks, and the center shaft of the moving gear is fixed to the sliding seat;

[0010] The suction cup assembly includes a suction cup with a suction port downward, which is rotatably installed on the suction cup mounting rack about the vertical axis thereof;

[0011] The image acquisition unit is located on the front side of the picking arm, including a camera and a second driving mechanism installed on the rack and driving the camera to move left and right.

[0012] The mushroom image is collected by the image acquisition unit, the position of the mature mushroom is recognized, the suction cup is aligned with the position of the mature mushroom by moving the picking arm left and right and moving the picking head forward and backward, the suction cup is brought into abutment with the top surface of the mushroom by the lifting mechanism and the mushroom is sucked, and finally the mushroom is picked up by rotating the suction cup to break it. The whole picking process does not need manual intervention, thereby saving labor cost, and the efficiency is high and the suction picking force is easy to control.

[0013] In order to reduce the size of the picking head and reduce the influence of the size of the picking head on the moving range of the picking arm, the sliding seat is located between the sliding member and the suction cup mounting rack, and the two sides of the two sides facing the two sides are provided with avoiding grooves, and the two racks are located in the two avoiding grooves respectively, thereby reducing the distance between the suction cup mounting rack and the sliding member.

[0014] Further, the lower part of the sliding seat is provided with a gear groove communicating with the two avoiding grooves, and the moving gear is installed in the gear groove, so as to avoid the influence of the moving gear on the up-down moving distance of the sliding seat, and under the same conditions, the vertical size of the picking head can be reduced.

[0015] In order to the stability of the sliding of the sliding seat, the side of the sliding member facing the sliding seat is provided with two parallel vertical guide columns, and the sliding seat is slidingly connected on the two guide columns, and the rack is correspondingly arranged between the two guide columns.

[0016] Further, the first driving mechanism includes a sliding table and a first driver, the sliding table is installed on the rack, the rear end of the picking arm is slidingly connected on the sliding table, and the first driver drives the picking arm to move left and right.

[0017] Further, the picking mechanism further comprises a guide rail installed on the rack, and the front end of the picking arm is slidingly connected on the guide rail to keep the balance of the picking arm moving.

[0018] Further, the second driving mechanism includes a guide beam and a second driver, the guide beam is installed on the rack, the camera is slidingly connected on the guide beam, and the second driver drives the camera to move left and right.

[0019] Further, the suction cup assembly further comprises a rotating driver which is in transmission with the suction cup gear.

[0020] Further, the picking arm comprises a plurality of arms which are distributed in parallel left and right to improve the picking efficiency.

[0021] Further, a limiting sensor is arranged between adjacent picking arms, the limiting sensor is installed on a sensor rack, the sensor rack is located at the rear side of the picking arm and is installed on the rack, and the moving range of each picking arm is limited by the limiting sensor to avoid collision.

[0022] The picking mechanism for the double-belly mushroom picking robot can intelligently identify the position of mature mushrooms, pick the mature mushrooms by moving the picking arm and the picking head, does not need manual participation in the process, saves the labor cost, improves the picking efficiency, and the strength during picking is controllable and does not hurt the mushrooms. BRIEF DESCRIPTION OF DRAWINGS

[0023] In the drawings:

[0024] Figure 1 is a schematic view of the picking mechanism;

[0025] Figure 2 is a schematic view of the picking head;

[0026] Figure 3 is an exploded schematic view of the picking head.

[0027] The components represented by the reference numerals in the drawings are:

[0028] 1, picking arm; 2, picking head; 21, sliding piece; 211, guide column; 22, lifting mechanism; 221, sliding seat; 2211, avoiding groove; 2212, gear groove; 222, suction cup mounting rack; 2221, sliding plate; 2222, mounting plate; 223, rack; 224, moving gear; 23, suction cup assembly; 231, suction cup; 232, rotary driver; 3, image acquisition unit; 31, camera; 32, second driving mechanism; 321, guide beam; 322, second driver; 4, first driving mechanism; 41, sliding table; 42, first driver; 5, guide rail; 61, limit sensor; 62, sensor rack. DETAILED DESCRIPTION

[0029] As shown in Figure 1 and Figure 2 embodiments of the utility model provide a kind of picking mechanism for double-belly mushroom picking robot, install on the rack of picking robot, including picking arm 1, picking head 2 and image acquisition unit 3.

[0030] Wherein, picking arm 1 extends before and after, rear end is equipped with first driving mechanism 4 being installed on rack and driving picking arm 1 left and right movement;

[0031] Picking head 2 includes sliding piece 21, lifting mechanism 22 and suction cup assembly 23, sliding piece 21 is slidably connected on picking arm 1, can move before and after, lifting mechanism 22 is installed on sliding piece 21, and can drive suction cup assembly 23 to move up and down;

[0032] The lifting mechanism 22 comprises a sliding seat 221 vertically slidingly connected to the sliding member 21 and a suction cup mounting rack 222 vertically slidingly connected to the sliding seat 221, the suction cup mounting rack 222 and the sliding member 21 are oppositely provided with vertical racks 223, the two vertical racks 223 are engaged with a moving gear 224, the central rotating shaft of the moving gear 224 is fixed to the sliding seat 221, through the cooperation of the two vertical racks 223 and the moving gear 224, the suction cup mounting rack 222 can move at twice the moving speed of the sliding seat 221, the moving of the suction cup assembly 23 is more rapid, and the up-down movable distance of the suction cup assembly 23 is doubled, which facilitates the movement of the robot;

[0033] The suction cup assembly 23 comprises a suction cup 231 with a suction port downwardly installed on the suction cup mounting rack 222 in a rotatable manner around a vertical axis thereof;

[0034] The image acquisition unit 3 is located at the front side of the picking arm 1 and comprises a camera 31 and a second driving mechanism 32 mounted on the rack and driving the camera 31 to move left and right.

[0035] Through the image acquisition unit 3, the image of the mushroom is acquired, the position of the mature mushroom is identified, the suction cup 231 is aligned with the position of the mature mushroom through the left-right movement of the picking arm 1 and the forward-backward movement of the picking head 2, then the suction cup 231 is abutted against the top surface of the mushroom and sucks the mushroom through the lifting mechanism 22, finally the mushroom is twisted and picked by rotating the suction cup 231. The whole picking process does not need manual participation, thereby saving the labor cost and being high in efficiency and easy to control the suction and picking force.

[0036] The specific structure of the embodiment will be described in detail in combination with the drawings as follows:

[0037] As shown in Figure 1 , the first driving mechanism 4 comprises a sliding table 41 and a first driver 42. The sliding table 41 extends left and right, and both ends are mounted on the rack. The rear end of the picking arm 1 is slidingly connected to the sliding table 41, and the first driver 42 is fixed to the rear end of the picking arm 1 to drive the picking arm 1 to move left and right.

[0038] The picking mechanism further comprises a guide rail 5 located at the front end position of the picking arm 1, which extends left and right, and both ends are mounted on the rack. The front end of the picking arm 1 is slidingly connected to the guide rail 5 to assist in maintaining the balance of the picking arm 1 during movement.

[0039] The picking arm 1 is further provided with a third driving mechanism driving the picking head 2 to move forward and backward.

[0040] The picking arm 1 can preferably comprise a plurality of parallel left and right distribution to improve the picking efficiency. Similarly, at least one picking head 2 can also be provided on each picking arm 1.

[0041] Further, a limit sensor 61 can be arranged between adjacent picking arms 1, the limit sensor 61 being arranged on a sensor frame 62 located at the rear side of the picking arm 1 and mounted on the rack, so as to limit the moving range of each picking arm 1 and avoid collision.

[0042] Please refer to Figs. 4 and 5 Figure 2 and Figure 3 As shown in Figs. 4 and 5, the sliding member 21 of the picking head 2 is located at one side of the picking arm 1 in a sliding connection, the sliding seat 221 is located at the side of the sliding member 21 away from the picking arm 1, and the suction cup mounting frame 222 is located at the side of the sliding seat 221 away from the sliding member 21. The fourth driving mechanism for driving the vertical sliding of the sliding seat 221 is further arranged on the sliding member 21. Preferably, the fourth driving mechanism can drive the sliding seat 221 to move up and down by the way of the screw rod and the sliding seat 221 threadedly cooperating, so as to accurately control the moving distance.

[0043] In order to make the sliding seat 221 stably slide, two vertical guide columns 211 parallel to each other are arranged on the side of the sliding member 21 facing the sliding seat 221, the sliding seat 221 is slidingly connected to the two guide columns 211, and the rack 223 is correspondingly arranged between the two guide columns 211, so as to avoid the reaction force of the rack 223 on the moving gear 224 to cause the sliding seat 221 to receive a deviation force, and thus to avoid the sliding friction of the movable seat to increase and affect the smooth sliding.

[0044] In order to reduce the size of the picking head 2 and reduce the influence of the size of the picking head 2 on the moving range of the picking arm 1, the two sides of the sliding seat 221 facing the sliding member 21 and the suction cup mounting frame 222 are each provided with an avoiding groove 2211, and the two racks 223 are respectively located in the two avoiding grooves 2211, so as to reduce the distance between the suction cup mounting frame 222 and the sliding member 21.

[0045] Further, the lower part of the sliding seat 221 is provided with a gear groove 2212 communicating with the two avoiding grooves 2211, and the moving gear 224 is arranged in the gear groove 2212, so as to avoid the moving gear 224 to occupy the distance for the sliding seat 221 to move up and down, and thus to reduce the vertical size of the picking head 2 under the same conditions.

[0046] The suction cup mounting frame 222 specifically includes a vertical sliding plate 2221 and a horizontal mounting plate 2222, the sliding plate 2221 is slidingly connected to the sliding seat 221, and the mounting plate 2222 is fixed to the side of the sliding plate 2221 away from the sliding seat 221.

[0047] The suction cup 231 is rotationally connected to the mounting plate 2222, the lower end of the suction cup 231 is a rubber suction nozzle, and the upper end of the suction cup 231 is used for connecting a vacuum pipe, so as to make the rubber suction nozzle suck the mushroom by the way of vacuumizing.

[0048] The rubber suction nozzle preferably comprises a downward flared suction mouth and a buffer cavity above the suction mouth, the buffer cavity being a double-cone cavity, which buffers the contact between the suction mouth and the mushroom, so as to gently pick up the mushroom and avoid damaging the mushroom body.

[0049] In addition, a pressure sensor can be arranged on the suction disc 231, and whether the suction disc 231 abuts against the top surface of the mushroom is determined according to whether the pressure sensor is triggered, so as to avoid crushing the mushroom.

[0050] The suction disc assembly 23 further comprises a rotating driver 232, which is in gear transmission with the suction disc 231 and drives the suction disc 231 to rotate around the axis thereof, so as to break the root of the mushroom.

[0051] Please refer to Figure 1 The second driving mechanism 32 comprises a guide beam 321 and a second driver 322, the guide beam 321 extending leftward and rightward and being mounted at both ends on the frame, and the camera 31 is slidingly connected on the guide beam 321 and downwardly photographs the image on the mushroom cultivation bed, and the second driver 322 drives the camera 31 to move leftward and rightward.

[0052] The camera 31 is preferably a real-sensing camera 31.

[0053] The picking mechanism for the double-belly mushroom picking robot provided by the utility model can photograph the image on the mushroom cultivation bed through the camera 31, intelligently identify the position of the mature mushroom, then move the picking arm 1 leftward and rightward and the picking head 2 forward and backward, align the suction disc 231 with the position of the mature mushroom, then make the suction disc 231 abut against the top surface of the mushroom and suck the mushroom through the lifting mechanism 22, finally break the mushroom through the rotating suction disc 231, complete the picking of the mushroom, the whole process does not need manual participation, saves the labor cost, improves the picking efficiency, and the force during picking is controllable and does not damage the mushroom.

Claims

1. A picking mechanism for a doppelganger mushroom picking robot, installed on a frame of the picking robot, characterized by, It comprises picking arms (1), picking heads (2) and image acquisition units (3); The picking arms (1) extend forward and backward, and the rear end is provided with a first driving mechanism (4) mounted on the rack and driving the picking arms (1) to move left and right. The picking head (2) comprises a sliding piece (21), a lifting mechanism (22) and a suction cup assembly (23), the sliding piece (21) is slidably connected to the picking arm (1) and can move forward and backward, the lifting mechanism (22) is installed on the sliding piece (21) and can drive the suction cup assembly (23) to move up and down. The lifting mechanism (22) comprises a sliding seat (221) vertically slidably connected to the sliding piece (21) and a suction cup mounting rack (222) vertically slidably connected to the sliding seat (221), the suction cup mounting rack (222) and the sliding piece (21) are oppositely provided with vertical racks (223), and the two racks (223) are engaged with a moving gear (224), and the center rotating shaft of the moving gear (224) is fixed to the sliding seat (221). The suction cup assembly (23) comprises a suction cup (231) with its suction port downward, which is rotatably installed on the suction cup mounting rack (222) about its vertical axis. The image acquisition unit (3) is located on the front side of the picking arm (1) and comprises a camera (31) and a second driving mechanism (32) mounted on the rack and driving the camera (31) to move left and right.

2. The picking mechanism for a dual-gilled mushroom picking robot according to claim 1, wherein The sliding seat (221) is located between the sliding piece (21) and the suction cup mounting rack (222), and is provided with an avoiding groove (2211) on each side surface facing the two.

3. The picking mechanism for a dual-gilled mushroom picking robot according to claim 2, wherein The lower part of the sliding seat (221) is provided with a gear groove (2212) communicating with the two avoiding grooves (2211), and the moving gear (224) is installed in the gear groove (2212).

4. The picking mechanism for a dual-gilled mushroom picking robot according to claim 3, wherein The side of the sliding piece (21) facing the sliding seat (221) is provided with two parallel vertical guide columns (211), the sliding seat (221) is slidably connected to the two guide columns (211), and the rack (223) is correspondingly located between the two guide columns (211).

5. The picking mechanism for a dual-gilled mushroom picking robot according to claim 1, wherein The first driving mechanism (4) comprises a sliding table (41) and a first driver (42), the sliding table (41) is mounted on the rack, the rear end of the picking arm (1) is slidably connected to the sliding table (41), and the first driver (42) drives the picking arm (1) to move left and right.

6. The picking mechanism for a dual-gilled mushroom picking robot according to claim 5, wherein It also comprises a guide rail (5) mounted on the rack, and the front end of the picking arm (1) is slidably connected to the guide rail (5).

7. The picking mechanism for a dual-gilled mushroom picking robot according to claim 1, wherein The second driving mechanism (32) comprises a guide beam (321) and a second driver (322), the guide beam (321) is mounted on the rack, the camera (31) is slidably connected to the guide beam (321), and the second driver (322) drives the camera (31) to move left and right.

8. The picking mechanism for a dual-gilled mushroom picking robot according to claim 1, wherein The suction cup assembly (23) further comprises a rotary driver (232) in gear transmission with the suction cup (231).

9. The picking mechanism for a dual-budded mushroom picking robot according to any one of claims 1 to 8, wherein, The picking arm (1) comprises a plurality of parallel left and right distribution.

10. The picking mechanism for a dual-gilled mushroom picking robot according to claim 9, wherein A limit sensor (61) is arranged between adjacent picking arms (1), and the limit sensor (61) is mounted on a sensor frame (62) arranged on the rear side of the picking arm (1) and mounted on the frame.