End execution device capable of being used for picking mushrooms

Abstract

The utility model relates to an end executive device capable of being used for picking mushrooms. The end executive device solves the technical problem of how to more effectively and reliably pick agaricus bisporus growing in an inclined mode. The device comprises an upper supporting plate, a lower supporting plate, a flexible pipe, an upper hollow shaft, a lower rigid air pipe, a spherical joint bearing and a self-adaptive suction cup, the upper supporting plate is connected with the lower supporting plate through a fixing column, the upper hollow shaft is fixedly connected with the upper supporting plate and penetrates through the upper supporting plate, the upper end of the flexible pipe is connected with the lower end of the upper hollow shaft, and the lower end of the flexible pipe is connected with the lower rigid air pipe. The lower end of the flexible pipe is connected with the upper end of the lower rigid air pipe; the spherical joint bearing is connected with the lower supporting plate, the spherical joint bearing is provided with an inner ring, the lower rigid air pipe is connected with the inner ring of the spherical joint bearing, and the lower rigid air pipe penetrates through the spherical joint bearing; the self-adaptive suction cup is connected with the lower end of the lower rigid air pipe. The mushroom picking machine is widely used for picking mushrooms such as agaricus bisporus.

Description

TECHNICAL FIELD

[0001] The utility model relates to technical field, more particularly, relate to a kind of end execution device for picking mushroom. BACKGROUND

[0002] Agaricus bisporus is a kind of common edible fungi, Agaricus bisporus has extremely high nutrition, medicinal value, can be processed into various food, health products, and even pharmaceuticals, and the economic value is very considerable.

[0003] Agaricus bisporus cultivation has realized factory large-scale production, factory mushroom house plants Agaricus bisporus, production is not limited by season, can mushroom every day, year-round production, high yield, good benefit. Factory mushroom house is generally 20~30 meters long, 6~10 meters wide, 5~6 meters high, 2~4 rows of multilayer bed frames can be arranged in the length direction of the house. Bed frame is mostly made of metal structural section, bed width is 1~1.6 meters, layer number is 5~6 layers, layer spacing is 50~70 centimeters, the distance between the lowermost layer of bed frame and the ground is about 30 centimeters, and the uppermost layer is more than 1 meter from the roof. The passage between bed frames is 80~100 centimeters wide, and the passage between bed frame and wall is 40~80 centimeters wide.

[0004] Agaricus bisporus colony growth randomness, Agaricus bisporus has unique growth characteristics, on the one hand, group growth, Agaricus bisporus exists in the form of mycelium, mycelium can be connected to form a huge group, under suitable environment, Agaricus bisporus mycelium will rapidly reproduce and spread, forming a dense mycelial network, mycelium interweaves and closely adheres together, forming an interlaced and overlapping growth state; on the other hand, spore production characteristics, under suitable environment, Agaricus bisporus can rapidly produce a large number of fruiting bodies, thereby realizing rapid population expansion. The above growth characteristics determine that Agaricus bisporus group will form a tight group growth state (i.e. Agaricus bisporus group cluster growth), Agaricus bisporus group size, shape and density vary greatly, and adjacent mushrooms have mutual compression and stacking phenomenon.

[0005] Agaricus bisporus planting industry is a labor-intensive industry, in recent years, labor cost is getting higher and higher, and Agaricus bisporus has the biological characteristics of uneven size and 24-hour growth, which has high requirements for labor picking skills and working time, and the problem of high labor cost faced by Agaricus bisporus planting factory is becoming more and more serious. Automatic picking and harvesting by automatic picking robot can save labor, improve efficiency and reduce cost. For the structure and working mode of automatic picking robot, please refer to the invention patent application with application publication number CN 113940239 A and the name of "intelligent picking system", and the invention patent application with application publication number "CN113079954A" and the name of "picking device with self-adaptive suction cup and self-adaptive suction cup".

[0006] The growth of Agaricus bisporus colonies is random, and Agaricus bisporus has unique growth characteristics. On the one hand, it is colony growth. Agaricus bisporus exists in the form of mycelium, and the mycelium can be connected to form a large colony. In a suitable environment, the mycelium of Agaricus bisporus will rapidly proliferate and spread to form a dense mycelial network. The mycelium is intertwined and closely attached together to form an interlaced and overlapping growth state. On the other hand, it is spore production. In a suitable environment, Agaricus bisporus can rapidly produce a large number of fruiting bodies, thereby realizing rapid population expansion. The above growth characteristics determine that the Agaricus bisporus colony will form a tight colony growth state (i.e., the Agaricus bisporus colony grows in clusters). The size, shape, and density of the Agaricus bisporus colony are diverse, and there is mutual compression and stacking between adjacent mushrooms. It can be seen that the growth direction of Agaricus bisporus has vertical upward and inclined cases. For the inclined Agaricus bisporus, it is very difficult to pick.

[0007] An invention patent application with the application publication number CN114847091A and the title of "a Agaricus bisporus picking device control system and control method" discloses a way of picking mushrooms growing in an inclined manner. The way obtains the inclination angle of the mushroom through a vision module, and then adjusts the pose of the suction disc picking module before the picking action, so that the inclination angle of the suction disc picking module is consistent with the inclination angle of the mushroom. This way is very complex in operation process, has low reliability, and has low picking efficiency, and is not ideal in practical application.

[0008] Therefore, how to more effectively and reliably pick the Agaricus bisporus growing in an inclined manner is a technical problem to be solved by those skilled in the art. SUMMARY

[0009] The present application is to solve the technical problem of how to more effectively and reliably pick the Agaricus bisporus growing in an inclined manner, and provides an end execution device capable of picking mushrooms, which is easier to pick the Agaricus bisporus growing in an inclined manner.

[0010] The present disclosure provides an end execution device capable of picking mushrooms, which comprises an upper support plate, a lower support plate, a flexible tube, an upper hollow shaft, a lower rigid air tube, a spherical joint bearing, and an adaptive suction disc. The upper support plate is connected with the lower support plate through a fixing column. The upper hollow shaft is fixedly connected with the upper support plate, and the upper hollow shaft passes through the upper support plate. The upper end of the flexible tube is connected with the lower end of the upper hollow shaft, and the lower end of the flexible tube is connected with the upper end of the lower rigid air tube. The spherical joint bearing is connected with the lower support plate, and the spherical joint bearing is provided with an inner ring. The lower rigid air tube is connected with the inner ring of the spherical joint bearing, and the lower rigid air tube passes through the spherical joint bearing. The adaptive suction disc is connected with the lower end of the lower rigid air tube.

[0011] Preferably, the end effector capable of picking up mushrooms further comprises a spring, the upper end of the spring is connected with the lower end of the upper hollow shaft, the lower end of the spring is connected with the upper end of the lower rigid air pipe, and the spring is sleeved on the flexible pipe.

[0012] Preferably, the suction cup is a self-adaptive suction cup.

[0013] Preferably, the flexible pipe is a bellows.

[0014] The beneficial effects of the present disclosure are that the inclined Agaricus bisporus can be quickly, effectively and reliably picked up, and the picking operation is simple.

[0015] Not limited to picking up Agaricus bisporus, other mushrooms can also be picked up, and other products that need to be picked up can also be picked up.

[0016] Further features and aspects of the present disclosure will be made clear in the following description of the specific embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is an isometric view of the end effector;

[0018] Figure 2 is Figure 1 is a front view of the end effector shown in the figure;

[0019] Figure 3 is Figure 1 is a left view of the end effector shown in the figure;

[0020] Figure 4 is Figure 1 is a cross-sectional view of the end effector shown in the figure, and the spring is not shown in the cross-sectional view;

[0021] Figure 5 is a schematic view of the end effector adsorbing the inclined Agaricus bisporus.

[0022] Explanation of symbols in the figure:

[0023] 1. upper support plate, 2. lower support plate, 3. fixed column, 4. fixed column, 5. fixed column, 6. flexible pipe, 7. upper hollow shaft, 8. lower rigid air pipe, 9. spherical joint bearing, 10. self-adaptive suction cup, 11. spring, 12. inclined Agaricus bisporus, 12-1. cap. DETAILED DESCRIPTION

[0024] The application will be further described in detail below with reference to the accompanying drawings.

[0025] The specific embodiments described below are merely preferred embodiments of the application, and the scope of protection of the application is not limited thereto. Based on or according to the principles, concepts and spirits of the application, some changes or modifications can be made by those skilled in the art, and the technical solutions formed by these changes or modifications should be covered within the scope of protection of the application.

[0026] As shown in Figures 1-4 , the end execution device includes an upper support plate 1, a lower support plate 2, a fixed column 3, a fixed column 4, a fixed column 5, a flexible pipe 6, an upper hollow shaft 7, a lower rigid air pipe 8, a spherical joint bearing 9, an adaptive suction cup 10, a spring 11, the upper end of the fixed column 3 is fixedly connected with the upper support plate 1, the lower end of the fixed column 3 is fixedly connected with the lower support plate 2, the upper end of the fixed column 4 is fixedly connected with the upper support plate 1, the lower end of the fixed column 4 is fixedly connected with the lower support plate 2, the upper end of the fixed column 5 is fixedly connected with the upper support plate 1, the lower end of the fixed column 5 is fixedly connected with the lower support plate 2, the upper hollow shaft 7 is fixedly connected with the upper support plate 1, the upper hollow shaft 7 passes through the upper support plate 1, the upper end of the flexible pipe 6 is connected with the lower end of the upper hollow shaft 7, the lower end of the flexible pipe 6 is connected with the upper end of the lower rigid air pipe 8. The upper end of the spring 11 is connected with the lower end of the upper hollow shaft 7, the lower end of the spring 11 is connected with the upper end of the lower rigid air pipe 8, the spring 18 is sleeved on the flexible pipe 6. The spherical joint bearing 9 is installed on the lower support plate 2, the spherical joint bearing 9 is provided with an inner ring, the lower rigid air pipe 8 is connected with the inner ring of the spherical joint bearing 12, and the lower rigid air pipe 8 passes through the spherical joint bearing 12. The lower rigid air pipe 8 can swing omnidirectionally under the support of the spherical joint bearing 12.

[0027] The adaptive suction cup 10 is connected with the lower end of the lower rigid air pipe 8. The structure of the adaptive suction cup 10 can adopt the adaptive suction cup structure disclosed in the application publication No. CN113940239A entitled "Intelligent picking system".

[0028] The spring 11 is arranged to make the flexible pipe 6 in the bent state more easily recover to the vertical state.

[0029] It should be noted that the flexible pipe 6 can specifically select a bellows.

[0030] The process of picking Agaricus bisporus using the above-mentioned end execution device is as follows:

[0031] The upper support plate 1 or the lower support plate 2 is fixed on the positioning mechanism of the Agaricus bisporus automatic picking robot, and the upper end of the upper hollow shaft 7 is connected with a vacuum generator system.

[0032] (1) The first case is to pick Agaricus bisporus growing in the vertical direction.

[0033] As shown in Figure 1 ,2 In the initial state shown, the entire harvesting execution end moves downwards vertically, and the adaptive suction cup 10 presses down on the cap of the vertically growing button mushroom. At this time, the lower rigid air tube 8 is in the vertical direction, and the flexible tube 6 is also in the vertical direction (without bending). Then, the vacuum generator is turned on to allow the adaptive suction cup 10 to adsorb the cap of the button mushroom (the adaptive suction cup 10 is in the vertical direction and adsorbs the cap). Finally, the entire end-effector is raised or moved in a certain direction, and the adaptive suction cup 10 moves with the harvested button mushroom.

[0034] (ii) The second situation is to pick the tilted button mushrooms.

[0035] like Figure 1 , 2 In the initial state shown, the entire end effector moves downwards in the vertical direction, and the adaptive suction cup 10 presses down on the cap of the tilted Agaricus bisporus in the vertical direction. Figure 5 When the mushroom is tilted (as shown in image 12), the lower rigid trachea 8 will deflect at a certain angle due to the tilt, causing the flexible tube 6 to bend accordingly, and the adaptive suction cup 10 to tilt. Figure 5 As shown, the vacuum generator is then activated, allowing the adaptive suction cup 10 to adhere to the cap 12-1 of the tilted button mushroom. Finally, the entire end effector is raised, with the adaptive suction cup 10 carrying the harvested button mushroom upwards. The lower rigid air tube 8 and the flexible tube 6 then return to a vertical position. After the harvested button mushroom rises to the designated position, the adaptive suction cup 10 is depressurized, releasing the button mushroom, which then falls automatically.

[0036] It is evident that the harvesting process is simple and enables rapid, effective, and reliable harvesting of tilted button mushrooms.

[0037] It should be noted that a regular suction cup can be used instead of the adaptive suction cup 10. A regular suction cup could be the one disclosed in the invention patent application with publication number CN114847091A, entitled "A Control System and Control Method for a Button Mushroom Harvesting Device." Any suction cup capable of adsorbing the mushroom cap can replace the adaptive suction cup 10.

Claims

1. An end effector capable of being used to pick mushrooms, characterized in that, The device comprises an upper support plate, a lower support plate, a flexible tube, an upper hollow shaft, a lower rigid air tube, a spherical joint bearing and a self-adaptive suction cup, the upper support plate is connected with the lower support plate through a fixing column, the upper hollow shaft is fixedly connected with the upper support plate, the upper hollow shaft passes through the upper support plate, the upper end of the flexible tube is connected with the lower end of the upper hollow shaft, the lower end of the flexible tube is connected with the upper end of the lower rigid air tube, the spherical joint bearing is connected with the lower support plate, the spherical joint bearing is provided with an inner ring, the lower rigid air tube is connected with the inner ring of the spherical joint bearing, and the lower rigid air tube passes through the spherical joint bearing, and the self-adaptive suction cup is connected with the lower end of the lower rigid air tube.

2. The end-of-arm device that can be used for picking mushrooms according to claim 1, characterized in that, The end effector capable of picking up mushrooms further comprises a spring, the upper end of the spring is connected with the lower end of the upper hollow shaft, the lower end of the spring is connected with the upper end of the lower rigid air tube, and the spring is sleeved on the flexible tube.

3. The end effector device usable for picking mushrooms according to claim 1 or 2, characterized in that, The suction cup is a self-adaptive suction cup.

4. The end-of-arm device that can be used for picking mushrooms according to claim 1, characterized in that, The flexible tube is a bellows.

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