Picking head for agaricus bisporus picking robot

Abstract

The utility model provides a picking head for a agaricus bisporus picking robot. The picking head comprises a connecting assembly, a lifting mechanism and a sucking and picking mechanism. The connecting assembly comprises an adapter plate, an end plate and a sliding block, wherein the end plate and the sliding block are fixed to the front face and the rear face of the adapter plate correspondingly. The lifting mechanism comprises a vertical guide column fixed to the end plate, a sliding base connected to the guide column in a sliding mode and a lifting driving assembly driving the sliding base to vertically move, and the sliding base is provided with a vertically-sliding suction cup installation frame. The sucking and picking mechanism comprises a connecting pipe and a rotary driver for driving the connecting pipe to rotate around the axis of the connecting pipe, the connecting pipe is vertically arranged and rotationally connected to the sucker mounting frame, the lower end is provided with a vacuum sucker, and the upper end is connected with a vacuum pipe; vertical racks are oppositely arranged on the suction cup mounting frame and the adapter plate, a movable gear is meshed between the two racks, and a center rotating shaft of the movable gear is fixed to the sliding base. The picking head is compact in structure, labor can be saved, and picking force is balanced and controllable.

Description

Technical Field

[0001] This utility model relates to the field of automated harvesting technology, specifically a harvesting head for a twin mushroom harvesting robot. Background Technology

[0002] Button mushrooms are a common edible fungus, prized for their thick, fleshy texture, delicious flavor, and low calorie content. They also offer beneficial health benefits, resulting in significant market demand. Currently, button mushroom cultivation has become industrialized, with large-scale planting to meet market demand.

[0003] Once the twin mushrooms mature, they need to be harvested manually, which requires a lot of manpower. Moreover, the growth of mushrooms is not uniform, and they vary not only in size but also in density, which increases the difficulty of harvesting. This results in high labor intensity, long time consumption, and low efficiency. Furthermore, when harvesting manually, it is impossible to apply even force, which can easily damage the mushroom or surrounding immature mushrooms. Utility Model Content

[0004] To address the technical problems existing in the background art, this utility model provides a harvesting head for a twin mushroom harvesting robot.

[0005] The technical solution of this utility model is as follows:

[0006] A picking head for a twin mushroom picking robot, used on the robot's robotic arm, includes a connecting component, a lifting mechanism, and a suction mechanism;

[0007] The connecting assembly includes an adapter plate, end plates fixed to the front and rear of the adapter plate respectively, and a slider, which is used to slide with the robotic arm;

[0008] The lifting mechanism includes a vertical guide column fixed on the end plate, a sliding seat slidably connected to the guide column, and a lifting drive assembly that drives the sliding seat to move vertically. The sliding seat is provided with a suction cup mounting bracket that slides vertically.

[0009] The suction mechanism includes a connecting tube and a rotary actuator that drives the connecting tube to rotate around its own axis. The connecting tube is vertically arranged and rotatably connected to the suction cup mounting bracket. Its lower end is equipped with a vacuum suction cup, and its upper end is used to connect a vacuum tube.

[0010] The suction cup mounting bracket and the adapter plate are provided with opposing vertical racks, and a moving gear meshes between the two racks. The central shaft of the moving gear is fixed on the sliding seat.

[0011] Preferably, there are two guide posts, which are arranged parallel to each other on both sides of the rack along the transverse width of the adapter plate. The sliding seat is slidably connected to the two guide posts, so that when the sliding seat slides, it is not subject to tilting force between it and the two guide posts, which would affect the smoothness of the sliding.

[0012] Preferably, the sliding seat is provided with clearance grooves corresponding to the two rack positions, and the two racks are respectively located in the two clearance grooves. The lower part of the sliding seat is provided with an installation groove that connects the two clearance grooves. The moving gear is installed in the installation groove. By setting the grooves, the harvesting head structure is made compact, and the overall size of the harvesting head is reduced.

[0013] Similarly, the suction cup mounting bracket is equipped with two sliding rods, which are vertically arranged on both sides of the rack on the suction cup mounting bracket and slidably connected to the sliding seat. This design provides a sliding connection while ensuring smooth sliding.

[0014] In this application, the lifting drive assembly includes a lead screw rotatably connected to the end plate and a lifting driver that drives the lead screw to rotate. The lead screw is located between the guide post and the rack and is parallel to the guide post. The sliding seat is threadedly engaged with the lead screw. The sliding seat is driven to move up and down by rotating the lead screw.

[0015] Furthermore, the lifting drive is mounted on the end plate and connected to the lead screw drive via a timing belt.

[0016] Preferably, the suction cup mounting bracket includes a vertical sliding plate and a horizontal mounting plate. The sliding plate is located on the front side of the end plate and is slidably connected to the sliding seat. A rack is mounted on the sliding plate, and the mounting plate is fixed on the side of the sliding plate away from the end plate. The suction mechanism is mounted on the mounting plate.

[0017] Preferably, the vacuum suction cup includes a downward-facing funnel-shaped suction port and a buffer cavity located above the suction port. The buffer cavity is a double-conical cavity, which acts as a buffer when the suction port comes into contact with the mushroom, so as to gently pick up the mushroom and avoid damaging the mushroom.

[0018] In addition, the side of the adapter plate is equipped with two photoelectric limit sensors, one above the other, and the side of the sliding seat is equipped with a photoelectric trigger plate, which works in conjunction with the two photoelectric limit sensors to limit the maximum distance the sliding seat can move up and down.

[0019] This utility model provides a mushroom picking robot with a picking head that uses a vacuum suction cup to hold the top of the mushroom, and then uses a rotary driver to rotate the vacuum suction cup to twist off the mushroom root. Then, a lifting mechanism picks up the mushroom, realizing automated mushroom picking instead of manual picking. This not only saves labor costs, but also provides a balanced and controllable picking force, enabling perfect picking and ensuring that the mushrooms are not damaged after picking. Attached Figure Description

[0020] In the attached diagram:

[0021] Figure 1 This is a diagram of the harvesting head;

[0022] Figure 2 This is an exploded view of the harvesting head;

[0023] Figure 3 This is a schematic diagram of the sliding seat;

[0024] Figure 4 This is a schematic diagram of the suction mechanism.

[0025] The components represented by the various reference numerals in the diagram are:

[0026] 11. Adapter plate; 12. End plate; 13. Slider; 14. Auxiliary plate; 21. Guide post; 22. Sliding seat; 221. Clearance groove; 222. Mounting groove; 23. Lifting drive assembly; 231. Lead screw; 232. Lifting driver; 24. Suction cup mounting bracket; 241. Sliding plate; 242. Mounting plate; 25. Rack; 26. Moving gear; 27. Slide rod; 31. Connecting pipe; 32. Rotary driver; 33. Vacuum suction cup; 41. Photoelectric limit sensor; 42. Photoelectric trigger plate. Detailed Implementation

[0027] like Figure 1 and Figure 2 As shown, this utility model embodiment provides a picking head for a twin mushroom picking robot, which is also a compact extended-range picking head used on the robot's robotic arm, including a connecting component, a lifting mechanism and a suction mechanism;

[0028] The connecting assembly includes an adapter plate 11, an end plate 12 and a slider 13 respectively fixed on the front and rear sides of the adapter plate 11, and the slider 13 is used for sliding connection with the robotic arm.

[0029] The lifting mechanism includes a vertical guide column 21 fixed on the end plate 12, a sliding seat 22 slidably connected to the guide column 21, and a lifting drive assembly 23 that drives the sliding seat 22 to move vertically. The sliding seat 22 is provided with a suction cup mounting bracket 24 that slides vertically.

[0030] The suction mechanism includes a connecting tube 31 and a rotary driver 32 that drives the connecting tube 31 to rotate around its own axis. The connecting tube 31 is vertically arranged and rotatably connected to the suction cup mounting bracket 24. Its lower end is provided with a vacuum suction cup 33, and its upper end is used to connect a vacuum tube.

[0031] Vertical racks 25 are provided on the suction cup mounting bracket 24 and the adapter plate 11 facing each other. A movable gear 26 meshes between the two racks 25. The central shaft of the movable gear 26 is fixed on the sliding seat 22.

[0032] The picking head is moved laterally by slider 13, and then the vacuum suction cup 33 is moved vertically by lifting mechanism so that it can contact the top of the mushroom. The mushroom is then sucked in by vacuum extraction, and the vacuum suction cup 33 is rotated by rotary driver 32 to break off the mushroom, completing the mushroom picking. The picking head of this application simulates human hand movements through lifting and suction mechanisms, replacing manual picking. This not only saves labor costs but also provides balanced and controllable picking force, achieving perfect picking and ensuring that the mushrooms are not damaged after harvesting.

[0033] The specific structure of the harvesting head in this embodiment will be described in detail below.

[0034] like Figure 1 and Figure 2 As shown, the adapter plate 11 is a vertical plate, the slider 13 is preferably disposed on the upper part of the rear side plate of the adapter plate 11, the end plate 12 is a horizontal plate, vertically disposed on the upper middle part of the adapter plate 11, and the upper end of the guide post 21 is fixed on the end plate 12. Preferably, the lower part of the adapter plate 11 is also provided with an auxiliary plate 14, which corresponds vertically to the end plate 12 and is disposed parallel to it, to fix the lower end of the guide post 21, thereby stabilizing and fixing the guide post 21, and also providing stable support for the sliding seat 22.

[0035] Preferably, two guide posts 21 are provided, arranged parallel to each other on both sides of the rack 25 along the transverse width direction of the adapter plate 11. That is, the rack 25 mounted on the adapter plate 11 is located between the end plate 12 and the auxiliary plate 14, and between the two guide posts 21. The sliding seat 22 is slidably connected to the two guide posts 21. Thus, when the sliding seat 22 slides, the lifting force between it and the suction cup mounting bracket 24 is located between the two guide posts 21, rather than at a biased position on both sides. This avoids the sliding seat 22 from being subjected to biased reaction force, which would cause greater friction on the guide posts 21 and result in uneven sliding.

[0036] The suction cup mounting bracket 24 includes a vertical sliding plate 241 and a horizontal mounting plate 242. The sliding plate 241 is located on the front side of the end plate 12 and is slidably connected to the sliding seat 22. The mounting plate 242 is fixed to the lower middle part of the side of the sliding plate 241 away from the end plate 12 (i.e., the front side). The suction mechanism is mounted on the mounting plate 242.

[0037] The rack 25 installed on the suction cup mounting bracket 24 is specifically installed on the rear side plate of the sliding plate 241. Similar to the design principle of the guide post 21, the suction cup mounting bracket 24 is provided with two sliding rods 27. The two sliding rods 27 are vertically arranged on both sides of the rack 25 on the suction cup mounting bracket 24 and are slidably connected to the sliding seat 22. While providing a sliding connection, it ensures the smooth sliding of the suction cup mounting bracket 24.

[0038] Please refer to the following at the same time Figure 3As shown, the sliding seat 22 has clearance grooves 221 at the front and rear positions of the two racks 25, respectively. The two racks 25 are located in the two clearance grooves 221 and can move vertically relative to each other. The lower part of the sliding seat 22 has a mounting groove 222 that connects the two clearance grooves 221. The moving gear 26 is installed in the mounting groove 222. The groove arrangement makes the harvesting head structure compact and reduces the overall size of the harvesting head.

[0039] The lifting drive assembly 23 specifically includes a lead screw 231 rotatably connected to the end plate 12 and a lifting driver 232 that drives the lead screw 231 to rotate. The upper and lower ends of the lead screw 231 are rotatably connected to the end plate 12 and the auxiliary plate 14, respectively, located between the guide post 21 and the rack 25, and parallel to the guide post 21. The sliding seat 22 is threadedly engaged with the lead screw 231; rotation of the lead screw 231 drives the sliding seat 22 to move up and down. The lifting driver 232 is mounted on the end plate 12 and is preferably connected to the upper end of the lead screw 231 via a synchronous belt.

[0040] Please refer to the following at the same time Figure 4 As shown, both the connecting pipe 31 and the rotary driver 32 are mounted on the mounting plate 242, and the rotary driver 32 drives the connecting pipe 31 to rotate through gear transmission.

[0041] The vacuum suction cup 33 at the lower end of the connecting tube 31 includes a downward-facing trumpet-shaped suction port and a buffer cavity located above the suction port. The buffer cavity is a double conical cavity, which acts as a buffer when the suction port comes into contact with the mushroom, so as to gently pick up the mushroom and avoid damaging the mushroom body.

[0042] In addition, the side of the adapter plate 11 is provided with two photoelectric limit sensors 41, one above the other, and the side of the sliding seat 22 is provided with a photoelectric trigger plate 42, which works in conjunction with the two photoelectric limit sensors 41 to limit the maximum distance of the sliding seat 22 to move up and down.

[0043] In addition, a pressure sensor can be installed on the vacuum suction cup 33. Whether the vacuum suction cup 33 is in contact with the top surface of the mushroom can be determined by whether the pressure sensor is triggered, so as to avoid damaging the mushroom.

[0044] This utility model provides a mushroom picking robot with a picking head that uses a vacuum suction cup 33 to hold the top of the mushroom, and then uses a rotary driver 32 to rotate the vacuum suction cup 33 to break off the mushroom root. Then, a lifting mechanism picks up the mushroom, realizing automated mushroom picking instead of manual picking. This not only saves labor costs, but also provides a balanced and controllable picking force, enabling perfect picking and ensuring that the mushrooms are not damaged after picking.

[0045] In addition, the movement distance of the suction cup mounting bracket 24 is doubled by the cooperation of the two racks 25 and the moving gear 26. By moving the sliding seat 22 a small distance, the suction cup mounting bracket 24 can be moved twice as much, thereby reducing the size of the picking head.

[0046] In addition, the clearance groove 221 provided on the sliding seat 22 allows the suction cup mounting bracket 24 to be closer to the adapter plate 11, while the mounting groove 222 can prevent the moving gear 26 from occupying the moving space of the sliding seat 22, thus making the design mechanism of the picking head more compact.

Claims

1. A harvesting head for a twin mushroom harvesting robot, the robot being equipped with a robotic arm, characterized in that, Includes connecting components, lifting mechanism, and suction mechanism; The connecting assembly includes an adapter plate (11), end plates (12) fixed to the front and rear of the adapter plate (11) respectively, and a slider (13), the slider (13) being used for sliding connection with the robotic arm; The lifting mechanism includes a vertical guide column (21) fixed on the end plate (12), a sliding seat (22) slidably connected to the guide column (21), and a lifting drive assembly (23) for driving the sliding seat (22) to move vertically. The sliding seat (22) is provided with a suction cup mounting bracket (24) that slides vertically. The suction mechanism includes a connecting tube (31) and a rotary driver (32) that drives the connecting tube (31) to rotate around its own axis. The connecting tube (31) is arranged vertically and rotatably connected to the suction cup mounting bracket (24). Its lower end is provided with a vacuum suction cup (33), and its upper end is used to connect a vacuum tube. Vertical racks (25) are provided opposite to each other on the suction cup mounting bracket (24) and the adapter plate (11). A movable gear (26) meshes between the two racks (25), and the central shaft of the movable gear (26) is fixed on the sliding seat (22).

2. The harvesting head for a twin mushroom harvesting robot as described in claim 1, characterized in that, Two guide posts (21) are provided, which are arranged parallel to each other on both sides of the rack (25) along the transverse width direction of the adapter plate (11). The sliding seat (22) is slidably connected to the two guide posts (21).

3. The harvesting head for a twin mushroom harvesting robot as described in claim 2, characterized in that, The sliding seat (22) is provided with clearance grooves (221) corresponding to the positions of the two racks (25), and the two racks (25) are respectively located in the two clearance grooves (221). The lower part of the sliding seat (22) is provided with an installation groove (222) that connects the two clearance grooves (221). The moving gear (26) is installed in the installation groove (222).

4. The harvesting head for a twin mushroom harvesting robot as described in claim 3, characterized in that, The suction cup mounting bracket (24) is provided with two slide rods (27), which are vertically arranged on both sides of the rack (25) on the suction cup mounting bracket (24) and are slidably connected to the sliding seat (22).

5. The harvesting head for a twin mushroom harvesting robot as described in claim 1, characterized in that, The lifting drive assembly (23) includes a lead screw (231) rotatably connected to the end plate (12) and a lifting driver (232) that drives the lead screw (231) to rotate. The lead screw (231) is located between the guide post (21) and the rack (25) and is parallel to the guide post (21). The sliding seat (22) is threadedly engaged with the lead screw (231).

6. The harvesting head for a twin mushroom harvesting robot as described in claim 5, characterized in that, The lifting driver (232) is mounted on the end plate (12) and is connected to the lead screw (231) via a synchronous belt.

7. The harvesting head for a twin mushroom harvesting robot as described in claim 1, characterized in that, The suction cup mounting bracket (24) includes a vertical sliding plate (241) and a horizontal mounting plate (242). The sliding plate (241) is located on the front side of the end plate (12) and is slidably connected to the sliding seat (22). The rack (25) is mounted on the sliding plate (241). The mounting plate (242) is fixed on the side of the sliding plate (241) away from the end plate (12). The suction mechanism is mounted on the mounting plate (242).

8. The harvesting head for a twin mushroom harvesting robot as described in claim 1, characterized in that, The vacuum suction cup (33) includes a downward-facing trumpet-shaped suction port and a buffer cavity located above the suction port, wherein the buffer cavity is a double conical cavity.

9. The harvesting head for a twin mushroom harvesting robot as described in claim 1, characterized in that, The adapter plate (11) is provided with two photoelectric limit sensors (41) on its side, and the sliding seat (22) is provided with a photoelectric trigger plate (42) on the corresponding side, which works in conjunction with the two photoelectric limit sensors (41) to limit the maximum distance that the sliding seat (22) moves up and down.

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