A doppelganger mushroom picking robot

Abstract

The application provides a double-belly mushroom picking robot, which comprises a walking frame, a picking mechanism, a vacuum-pumping mechanism, a conveying mechanism and an image acquisition mechanism which are installed on the walking frame; the picking mechanism comprises a picking arm and a picking head, the picking arm extends forward and backward, the rear end of the picking arm is slidably connected to the walking frame and can slide left and right, and the picking head is slidably connected to the picking arm and can slide forward and backward; the picking head comprises a connecting assembly, a lifting assembly and a suction assembly, the connecting assembly is slidably connected to the picking arm, the suction assembly is moved up and down through the lifting assembly, and the suction assembly is connected to the vacuum-pumping mechanism through an air pipe; the conveying mechanism is located below the rear part of the picking arm and extends left and right; the image acquisition mechanism is located on the front side of the picking arm and comprises a camera and a sliding beam which is fixed to the walking frame, the camera is slidably connected to the sliding beam and can slide left and right. The robot can replace manual picking, saves labor cost and improves picking efficiency.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of automation picking, specifically to a double-budded mushroom picking robot. BACKGROUND

[0002] Double-budded mushroom is a kind of edible fungus with thick flesh and rich nutrition, and is cultivated on a large scale and in a wide range. In cultivation, a multi-layer mushroom bed with a width of about 1-1.5 m and a layer spacing of about 0.5 m is used. In picking, workers usually put their hands into each cultivation layer to pick the mushrooms. The action of picking double-budded mushrooms needs to twist the mushroom body first, so that the root of the double-budded mushroom is disconnected from the culture medium, and then the mushroom is picked up.

[0003] Since the growth of double-budded mushrooms has anisotropy and different growth potentials, some mushrooms are mature while others need to continue to grow. Therefore, it is not possible to pick all the mushrooms at once. Therefore, the existing picking method is to pick the mushrooms manually. Therefore, when the double-budded mushrooms are mature, the cultivation factory needs to hire a large number of personnel to pick the mushrooms, which not only increases the labor cost, but also has many limitations when picking the mushrooms manually, such as the mushrooms in the layer close to the bottom surface need to be picked by the workers squatting down, which is inconvenient and affects the picking efficiency. SUMMARY

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

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

[0006] A double-budded mushroom picking robot comprises a walking frame and a picking mechanism, a vacuum pumping mechanism, a conveying mechanism and an image acquisition mechanism installed on the walking frame.

[0007] The picking mechanism comprises a picking arm and a picking head. The picking arm extends forward and backward, and its rear end is slidably connected to the walking frame and can slide left and right. The picking head is slidably connected to the picking arm and can slide forward and backward.

[0008] The picking head comprises a connecting assembly, a lifting assembly and a suction assembly. The connecting assembly is slidably connected to the picking arm. The lifting assembly comprises a lifting seat and a mounting seat. The lifting seat is slidably connected to the connecting assembly and located between the mounting seat and the connecting assembly. The mounting seat is slidably connected to the lifting seat. Vertical racks are arranged on opposite sides of the mounting seat and the connecting assembly. A movable gear is engaged between the two racks. The center shaft of the movable gear is fixed to the lifting seat. The suction assembly comprises a vacuum suction cup. The vacuum suction cup is installed on the mounting seat and can rotate around its vertical axis. The upper end of the vacuum suction cup is connected to the vacuum pumping mechanism through an air pipe.

[0009] The conveying mechanism is located below the rear part of the picking arm and extends left and right.

[0010] The image collecting mechanism is located at the front side of the picking arm, and includes a camera and a sliding beam fixed to the walking frame, the camera being slidingly connected to the sliding beam and capable of sliding left and right.

[0011] In order to reduce the distance between the mounting base and the connecting assembly, the lifting base is provided with a relief groove on each of the two sides facing the mounting base and the connecting assembly, and the two racks are respectively located in the two relief grooves.

[0012] In order to avoid the position of the moving gear affecting the distance of the lifting base moving up and down, the lifting base is provided with a gear groove at the lower part, which is connected to the two relief grooves, and the moving gear is installed in the gear groove.

[0013] Preferably, the side of the connecting assembly facing the lifting base is provided with two parallel vertical guide columns, the lifting base is slidingly connected to the two guide columns, and the racks are correspondingly located between the two guide columns, so as to improve the stability of the lifting base sliding.

[0014] In order to ensure the smooth sliding of the picking arm, the walking frame is provided with a linear sliding table and a linear guide rail extending left and right, and the rear end and the front end of the picking arm are slidingly connected to the linear sliding table and the linear guide rail respectively, so as to keep the balance of the picking arm moving.

[0015] Further, the conveying mechanism includes a conveying belt and baffles on both sides of the conveying belt, and the conveying direction of the conveying belt is left or right.

[0016] The height of the baffle on the rear side of the conveying belt is greater than the height of the baffle on the front side, and the height of the baffle on the front side is lower, so as to avoid blocking the picking head moving the mushrooms onto the conveying belt, and the height of the baffle on the rear side is higher, so as to block the picking head moving the mushrooms over the conveying belt.

[0017] Further, the picking arm is fixed with a knife holder, the knife holder is provided with a blade, the blade is horizontally arranged and located in the moving path of the vacuum suction cup, the conveying mechanism further includes a partition plate parallel to the baffles and located between the two baffles and above the conveying belt, and the blade is located above the partition plate, when the picking head moves the mushrooms, the blade cuts off the roots of the mushrooms with mud, the cut-off roots are blocked by the partition plate in front of the conveying belt, and the cut mushrooms are moved to the rear side of the conveying belt over the partition plate and are conveyed together with the cut-off roots.

[0018] In the present application, the walking frame includes two side plates arranged in parallel left and right, a plurality of support beams are arranged between the two side plates, a driven wheel and a driving wheel are respectively arranged on the lower part of the front and rear sides of the two side plates, the picking mechanism is located at the middle front part of the walking frame, and the vacuum pumping mechanism is located at the rear part of the walking frame.

[0019] In the present application, the vacuum pumping mechanism includes a vacuum pump, an air storage tank and an electromagnetic valve, the air storage tank is connected between the vacuum pump and the electromagnetic valve, and the electromagnetic valve is connected to the vacuum suction cup through an air pipe.

[0020] The double-belly mushroom picking robot can replace manual picking, is intelligent and personified, is not limited by the height of a mushroom bed, saves labor cost, can continuously work and has high picking efficiency.

[0021] In addition, picking and root cutting are integrated, subsequent reprocessing procedures are saved, labor cost is further reduced, the time from mushroom picking to mushroom output is shortened and economic benefit is improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] In the drawings:

[0023] Figure 1 is a schematic view of the picking robot;

[0024] Figure 2 is a local schematic view of the picking arm part

[0025] Figure 3 is a schematic view of the picking head;

[0026] Figure 4 is an exploded schematic view of the picking head.

[0027] Components represented by various reference signs in the drawings are as follows:

[0028] 1, walking frame; 11, side plate; 12, support beam; 13, driven wheel; 14, driving wheel; 15, linear slide table; 16, linear guide rail; 21, picking arm; 211, tool holder; 212, blade; 22, picking head; 221, connecting assembly; 2211, connecting plate; 2212, sliding block; 2213, guide column; 222, lifting assembly; 2221, lifting seat; 2222, mounting seat; 2223, rack; 2224, moving gear; 2225, avoiding groove; 2226, gear groove; 223, suction assembly; 2231, vacuum chuck; 31, vacuum pump; 32, electromagnetic valve; 41, conveying belt; 42, baffle; 43, partition plate; 51, camera; 52, slide beam. DETAILED DESCRIPTION

[0029] As Figure 1 shown, the utility model embodiment provides a double-belly mushroom picking robot, including walking frame 1 and picking mechanism, vacuumizing mechanism, conveying mechanism and image acquisition mechanism installed on walking frame 1.

[0030] The walking frame 1 comprises two side plates 11 arranged in parallel and extending in the front-rear direction. A plurality of support beams 12 are arranged between the two side plates 11 to support the two side plates 11 and stabilize the frame shape of the walking frame 1. A driven wheel 13 and a driving wheel 14 are arranged at the lower part of the front-rear side of the two side plates 11 respectively, and are used as the moving wheels of the picking robot. The picking mechanism is arranged between the two side plates 11 and at the middle front part of the walking frame 1, and the vacuum extraction mechanism is also arranged between the two side plates 11 but at the rear part of the walking frame 1. The driving motor and the storage battery are arranged at the rear part of the walking frame 1 to drive the driving wheel 14 to rotate.

[0031] Please refer to Figure 2 The picking mechanism comprises a picking arm 21 and a picking head 22. The picking arm 21 extends in the front-rear direction, and the rear end thereof is slidingly connected to the walking frame 1 and can slide leftward and rightward.

[0032] Specifically, a linear slide 15 and a linear guide rail 16 extending leftward and rightward are arranged on the walking frame 1. The two ends of the linear slide 15 and the linear guide rail 16 are fixed to the two side plates 11. The rear end and the front end of the picking arm 21 are slidingly connected to the linear slide 15 and the linear guide rail 16 respectively, so as to maintain the balance of the movement of the picking arm 21 and ensure the stable sliding of the picking arm 21.

[0033] The rear end of the picking arm 21 is provided with a first driving device to drive the picking arm 21 to slide leftward and rightward. Any driving structure in the prior art can be adopted, for example, as shown in Figure 2 which will not be described in detail herein.

[0034] Preferably, a plurality of picking arms 21 can be arranged in parallel to improve the picking efficiency. Similarly, at least one picking head 22 can be arranged on each picking arm 21.

[0035] Further, a limit sensor can be arranged between adjacent picking arms 21. The limit sensor is mounted on a sensor bracket extending leftward and rightward and fixed to the two side plates 11 at the rear side of the picking arm 21. The limit sensor limits the movement range of each picking arm 21 to avoid collision.

[0036] Please refer to Figure 3 and Figure 4 The picking head 22 is slidingly connected to the picking arm 21 and can slide forward and backward. Specifically, the picking head 22 comprises a connecting assembly 221, a lifting assembly 222 and a suction assembly 223.

[0037] The connecting assembly 221 is slidably connected with the picking arm 21, and comprises a connecting plate 2211, one side of the connecting plate 2211 is provided with a sliding block 2212 on the side plate 11, the sliding block 2212 is slidably connected with the picking arm 21, and the picking arm 21 is provided with a second driver for driving the sliding block 2212 to slide, wherein the second driver is also prior art, for example, the rotating belt pulling mode in the embodiment, and details are not described herein.

[0038] The lifting assembly 222 comprises a lifting seat 2221 and a mounting seat 2222, the lifting seat 2221 is slidably connected with the connecting assembly 221, and specifically is slidably connected with the connecting plate 2211 on the side plate 11 away from the sliding block 2212.

[0039] In order to improve the stability of the lifting seat 2221 sliding, two parallel vertical guide columns 2213 are arranged on the side of the connecting assembly 221 facing the lifting seat 2221 (i.e. the side of the connecting plate 2211 away from the sliding block 2212), and the lifting seat 2221 is slidably connected with the two guide columns 2213.

[0040] The lifting seat 2221 is located between the mounting seat 2222 and the connecting assembly 221, that is, the mounting seat 2222 is located on the side of the lifting seat 2221 away from the connecting plate 2211, and the mounting seat 2222 is slidably connected with the lifting seat 2221. The mounting seat 2222 and the connecting assembly 221 are provided with vertical racks 2223 on opposite sides, and a movable gear 2224 is engaged between the two racks 2223, the center rotating shaft of the movable gear 2224 is fixed on the lifting seat 2221, and the two racks 2223 are correspondingly arranged between the two guide columns 2213, so as to avoid the biasing reaction of the lifting seat 2221 by the movable gear 2224, which increases the sliding friction between the lifting seat 2221 and the guide columns 2213, and affects the smoothness of the lifting.

[0041] In addition, through the cooperation of the two racks 2223 and the movable gear 2224, the mounting seat 2222 can move at twice the speed of the lifting seat 2221, so that the mounting seat 2222 moves more quickly, and the distance that the mounting seat 2222 can move up and down is doubled, which facilitates the movement of the robot.

[0042] In order to reduce the distance between the mounting seat 2222 and the connecting assembly 221, the lifting seat 2221 is provided with avoiding grooves 2225 on the two side surfaces facing the mounting seat 2222 and the connecting assembly 221, and the two racks 2223 are respectively located in the two avoiding grooves 2225.

[0043] In order to avoid the position of the movable gear 2224 affecting the distance of the lifting seat 2221 moving up and down, the lifting seat 2221 is further provided with a gear groove 2226 at the lower part, which is connected with the two avoiding grooves 2225, and the movable gear 2224 is installed in the gear groove 2226.

[0044] In addition, the lifting assembly 222 further comprises a third driver for driving the lifting seat 2221 to move up and down. In the embodiment, the third driver is a motor-driven screw rod, which drives the lifting seat 2221 to move up and down through screw thread cooperation. However, the application is not limited thereto, and other driving modes can also be used as long as the same purpose is achieved. The specific driving mode is a common means for those skilled in the art, and will not be described in detail herein.

[0045] The suction assembly 223 comprises a vacuum suction cup 2231, which is installed on the mounting seat 2222 and can rotate around its vertical axis. The upper end of the vacuum suction cup 2231 is connected to the vacuum pumping mechanism through an air pipe, and the lower end is used to suck the mushroom. In addition, the mounting frame is also provided with a fourth driver for driving the vacuum suction cup 2231 to rotate. In the embodiment, the fourth driver drives the vacuum suction cup 2231 to rotate by cooperating with a gear transmission, but the same applies to the application.

[0046] Referring again to Figure 1 The vacuum pumping mechanism comprises a vacuum pump 31, an air tank (not shown in the figure) and a solenoid valve 32. The air tank is connected between the vacuum pump 31 and the solenoid valve 32, and the solenoid valve 32 is connected to the vacuum suction cup 2231 through an air pipe. In the embodiment, the vacuum pump 31, the air tank and the solenoid valve 32 are all arranged at the rear of the walking frame 1. The air tank is arranged below the vacuum pump 31, and the solenoid valve 32 is installed on the side plate 11.

[0047] Please refer to Figure 1 and Figure 2 The conveying mechanism is located below the rear of the picking arm 21 and comprises a conveying belt 41 and baffles 42 on both sides of the conveying belt 41. The conveying direction of the conveying belt 41 is left or right. Correspondingly, the side plate 11 located on the output direction of the conveying belt 41 is provided with a discharge port.

[0048] The height of the baffle 42 located at the rear side of the conveying belt 41 is greater than the height of the baffle 42 located at the front side and the height of the partition plate 43. The front baffle 42 is low to avoid blocking the movement of the picking head 22 to move the mushroom onto the conveying belt 41. The rear baffle 42 is high to block the movement of the picking head 22 to move the mushroom over the conveying belt 41.

[0049] Further, the picking arm 21 is further fixed with a knife holder 211, and the knife holder 211 is provided with a knife blade 212. The knife blade 212 is horizontally arranged and located on the moving path of the vacuum suction cup 2231, which is used to cut off the root of the mushroom with mud when the picking head 22 moves the mushroom backward.

[0050] The conveying mechanism further comprises a partition plate 43 parallel to the baffle plates 42 and located between the baffle plates 42 and above the conveying belt 41, and the blade 212 is located directly above the partition plate 43. When the picking head 22 moves backward to pick the mushrooms, the roots of the mushrooms are cut off by the blade 212, the cut roots fall on the conveying belt 41 and are blocked by the partition plate 43 on the front side of the conveying belt 41, and the cut mushrooms pass through the partition plate 43 and are moved to the rear side of the conveying belt 41, together with the cut roots, and are conveyed away, and then are processed separately.

[0051] The image acquisition mechanism is located on the front side of the picking arm 21 and comprises a camera 51 and a sliding beam 52 fixed to the walking frame 1, the sliding beam 52 extends leftward and rightward and is fixed to the two side plates 11, and the camera 51 is slidingly connected to the sliding beam 52 and can slide leftward and rightward. The image acquisition mechanism further comprises a fifth driver, which is also prior art, for example, a rotating belt in the embodiment to move the camera 51, and will not be described in detail here.

[0052] The picking robot for double-belly mushrooms provided by the utility model shoots the image of the mushrooms on the mushroom cultivation bed through the camera 51, intelligently identifies the position of the mature mushrooms, moves the picking arm 21 leftward and rightward and the picking head 22 forward and backward, aligns the vacuum sucker 2231 with the position of the mature mushrooms, then makes the vacuum sucker 2231 abut against the top surface of the mushrooms through the lifting assembly 222 and starts the vacuum suction mechanism to suck the mushrooms, finally rotates the vacuum sucker 2231 to break the mushrooms, and completes the picking of the mushrooms. After the picking head 22 sucks the mushrooms and is lifted, moves to above the conveying belt 41, and passes through the position of the blade 212, the roots of the mushrooms are cut off, the rest of the mushrooms are moved to the rear side of the partition plate 43 by the picking head 22 and fall on the conveying belt 41, and the conveying belt 41 conveys the mushrooms and the cut roots to the left side or the right side of the robot.

[0053] The picking robot can intelligently and humanly pick the mushrooms instead of manual picking, is not limited by the height of the mushroom bed, saves the labor cost, can continuously work, and has high picking efficiency.

[0054] In addition, the picking robot integrates picking and root cutting, saves the subsequent processing procedure, further reduces the labor cost, shortens the time from picking to mushroom output, and improves the economic benefit.

Claims

1. A dual-belly mushroom picking robot, characterized in that, The picking mechanism, the vacuum-pumping mechanism, the conveying mechanism and the image acquisition mechanism are mounted on the walking frame (1). The picking mechanism comprises a picking arm (21) and a picking head (22), the picking arm (21) extends forward and backward, the rear end of the picking arm (21) is slidably connected to the walking frame (1) and can slide left and right, and the picking head (22) is slidably connected to the picking arm (21) and can slide forward and backward. The picking head (22) comprises a connecting assembly (221), a lifting assembly (222) and a suction assembly (223), the connecting assembly (221) is slidably connected to the picking arm (21), the lifting assembly (222) comprises a lifting seat (2221) and a mounting seat (2222), the lifting seat (2221) is slidably connected to the connecting assembly (221) and located between the mounting seat (2222) and the connecting assembly (221), the mounting seat (2222) is slidably connected to the lifting seat (2221), the mounting seat (2222) and the connecting assembly (221) are provided with vertical racks (2223) on opposite sides, and a moving gear (2224) is engaged between the two vertical racks (2223), the central rotating shaft of the moving gear (2224) is fixed to the lifting seat (2221), the suction assembly (223) comprises a vacuum suction cup (2231), the vacuum suction cup (2231) is mounted on the mounting seat (2222) and can rotate around a vertical axis thereof, and the vacuum suction cup (2231) is connected to the vacuum-pumping mechanism through an air pipe at the upper end. The conveying mechanism is located below the rear part of the picking arm (21) and extends left and right. The image acquisition mechanism is located on the front side of the picking arm (21) and comprises a camera (51) and a sliding beam (52) fixed to the walking frame (1), the camera (51) is slidably connected to the sliding beam (52) and can slide left and right.

2. The dualog truffle picking robot of claim 1, wherein, The lifting seat (2221) is provided with an avoiding groove (2225) on each side surface facing the mounting seat (2222) and the connecting assembly (221), and the two vertical racks (2223) are located in the two avoiding grooves (2225) respectively.

3. The dualog truffle picking robot of claim 2, wherein, The lifting seat (2221) is provided with a gear groove (2226) at the lower part, which communicates with the two avoiding grooves (2225), and the moving gear (2224) is mounted in the gear groove (2226).

4. The dualog truffle picking robot of claim 3, wherein, The connecting assembly (221) is provided with two vertical guide columns (2213) on the side facing the lifting seat (2221), the lifting seat (2221) is slidably connected to the two guide columns (2213), and the vertical racks (2223) are correspondingly located between the two guide columns (2213).

5. The dualog truffle picking robot of claim 1, wherein, The walking frame (1) is provided with a linear sliding table (15) and a linear guide rail (16) extending left and right, and the rear end and the front end of the picking arm (21) are slidably connected to the linear sliding table (15) and the linear guide rail (16) respectively.

6. The dualog truffle picking robot of claim 1, wherein, The conveying mechanism comprises a conveying belt (41) and baffles (42) on both sides of the conveying belt (41), and the conveying direction of the conveying belt (41) is left or right.

7. A dualog truffle picking robot as claimed in claim 6, characterized in that The height of the baffle (42) at the rear side of the conveying belt (41) is greater than the height of the baffle (42) at the front side.

8. A dualog truffle picking robot as claimed in claim 7, characterized in that, A cutter holder (211) is fixed on the picking arm (21), and a cutter blade (212) is arranged on the cutter holder (211); the cutter blade (212) is horizontally arranged and located on the moving path of the vacuum chuck (2231); the conveying mechanism further comprises a partition plate (43) which is parallel to the baffle (42) and located between the two baffles (42) and above the conveying belt (41); and the cutter blade (212) is located above the partition plate (43).

9. The dualog truffle picking robot of claim 1, wherein, The walking frame (1) comprises two side plates (11) which are arranged in parallel; a plurality of support beams (12) are arranged between the two side plates (11); a driven wheel (13) and a driving wheel (14) are arranged on the lower part of the front and rear sides of the two side plates (11) respectively; the picking mechanism is located at the middle front part of the walking frame (1); and the vacuumizing mechanism is located at the rear part of the walking frame (1).

10. The dualog truffle picking robot of claim 1, wherein, The vacuumizing mechanism comprises a vacuum pump (31), an air storage tank and an electromagnetic valve (32); the air storage tank is connected between the vacuum pump (31) and the electromagnetic valve (32); and the electromagnetic valve (32) is connected with the vacuum chuck (2231) through an air pipe.

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