Automatic mushroom picking device

Abstract

An automatic shiitake mushroom picking device comprises a shiitake mushroom fruiting frame and an automatic picking mechanical arm located beside the shiitake mushroom fruiting frame, and is characterized in that the shiitake mushroom fruiting frame comprises a plurality of layers of roller conveying mechanisms, shiitake mushroom cultivation frames are placed on the roller conveying mechanisms, and cultivation frame lifting and overturning mechanisms are installed on the two sides of the shiitake mushroom fruiting frame respectively; the cultivation frame lifting and overturning mechanism and the roller conveying mechanism on each layer form a closed-loop conveying structure. The automatic picking mechanical arm is installed beside the mushroom fruiting frame to pick mushrooms, the mushroom cultivation frame is conveyed through the closed-loop conveying structure formed by the cultivation frame lifting and overturning mechanism and the roller conveying mechanism, manual intervention is basically eradicated through the design, full-picking automation is achieved, picking efficiency and precision are improved, and labor intensity of workers is reduced. And the picking cost is greatly reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of lentinus edodes cultivation, and particularly relates to an automatic lentinus edodes picking device. BACKGROUND

[0002] Lentinus edodes belongs to basidiomycetes, agaricales, tricholomataceae and lentinus, originates from China, is the second largest mushroom in the world, and is also a precious edible fungus with a long-standing reputation in China. Lentinus edodes is tender and delicious, has a unique aroma, and is rich in nutrients, and is a food with the same origin as medicine, and has high nutritional, medicinal and health care values.

[0003] Lentinus edodes cultivation has realized factory production, and the environment in the factory building meets the conditions suitable for lentinus edodes growth, such as temperature, humidity and light, and a large number of lentinus edodes racks are installed in the factory building. Lentinus edodes racks are placed on the lentinus edodes racks, and the lentinus edodes racks are used for growing lentinus edodes. The lentinus edodes racks have many layers, the space of each layer is small, and a plurality of lentinus edodes racks are placed on each layer of the lentinus edodes racks.

[0004] At present, the lentinus edodes that has grown and matured on the lentinus edodes racks is mostly picked manually, and manual picking has the problems of high labor intensity, high labor cost and low efficiency, and manual picking has the phenomenon of missed picking. SUMMARY

[0005] The utility model aims at overcoming the defects and deficiencies of the prior art, and provides an automatic lentinus edodes picking device with simple structure, high automation, fast picking speed and low picking cost.

[0006] To achieve the above purpose, the technical solution of the utility model is as follows: an automatic lentinus edodes picking device, comprising a lentinus edodes emergence rack and an automatic picking manipulator located beside the lentinus edodes emergence rack, characterized in that: the lentinus edodes emergence rack comprises a plurality of layers of roller conveying mechanisms, lentinus edodes cultivation frames are placed on the roller conveying mechanisms, cultivation frame lifting and overturning mechanisms are respectively installed on the two sides of the lentinus edodes emergence rack, and the cultivation frame lifting and overturning mechanisms and the roller conveying mechanisms of each layer respectively form a closed loop conveying structure.

[0007] The cultivation frame lifting and overturning mechanism comprises a hollow column installed on a base, a lifting shaft is installed in the hollow column, a lifting servo motor is installed at the top end of the hollow column, the motor shaft of the lifting servo motor penetrates into the hollow column and is connected together with the lifting shaft, and a roller tray is sleeved on the lifting shaft; a rotating motor is arranged on the base, and the bottom of the hollow column and the motor shaft of the rotating motor are connected together through a connecting plate.

[0008] The roller conveying mechanism comprises two roller conveying belts arranged side by side, and the hollow column is located between the two roller conveying belts.

[0009] A scanning camera is installed on the automatic picking manipulator.

[0010] Compared with the prior art, the present application has the following advantages:

[0011] 1. The automatic picking mechanical hand is installed beside the mushroom growing frame to pick the shiitake mushrooms, and the closed-loop conveying structure formed by the cultivation frame lifting and overturning mechanism and the roller conveying mechanism is used to convey the shiitake mushroom cultivation frame, so that manual intervention is basically eliminated, full picking automation is realized, picking efficiency and precision are improved, and picking cost is greatly reduced.

[0012] 2. The lifting servo motor and the rotating motor are used to realize the lifting and overturning of the roller tray, and the closed-loop conveying function is realized with the most simplified structure.

[0013] 3. The scanning camera is installed on the automatic picking mechanical hand, so that the picking progress and precision can be monitored throughout the process by the camera, and the picking efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a structural diagram of the present application Figure One (Side view).

[0015] Figure 2 is a structural diagram of the present application Figure Two (Plan view).

[0016] In the figure: mushroom growing frame 1, automatic picking mechanical hand 2, roller conveying mechanism 3, shiitake mushroom cultivation frame 4, cultivation frame lifting and overturning mechanism 5, base 6, hollow column 7, lifting shaft 8, lifting servo motor 9, roller tray 10, rotating motor 11, connecting plate 12, roller conveying belt 13, left roller conveying belt 131, right roller conveying belt 132. DETAILED DESCRIPTION

[0017] The present application will be further described in detail in combination with the accompanying drawings and specific embodiments.

[0018] Referring to Figures 1-2 , an automatic shiitake mushroom picking device comprises a mushroom growing frame 1 and an automatic picking mechanical hand 2 located beside the mushroom growing frame 1, a scanning camera is installed on the automatic picking mechanical hand 2, the mushroom growing frame 1 comprises a plurality of layers of roller conveying mechanisms 3, each roller conveying mechanism 3 comprises two roller conveying belts 13 arranged side by side, shiitake mushroom cultivation frames 4 are placed on the roller conveying belts 13, cultivation frame lifting and overturning mechanisms 5 are installed on both sides of the mushroom growing frame 1, the cultivation frame lifting and overturning mechanisms 5 are located between the two roller conveying belts 13, and the cultivation frame lifting and overturning mechanism 5 and the two roller conveying belts 13 of each layer form a closed-loop conveying structure.

[0019] The cultivation frame lifting and overturning mechanism 5 comprises a hollow column 7 installed on the base 6, the hollow column 7 is located between two roller conveyors 13, a lifting shaft 8 is installed inside the hollow column 7, a lifting servo motor 9 is installed at the top end of the hollow column 7, the motor shaft of the lifting servo motor 9 penetrates into the hollow column 7 and is connected with the lifting shaft 8, and a roller tray 10 is sleeved on the lifting shaft 8; the base 6 is provided with a rotating motor 11, and the bottom of the hollow column 7 and the motor shaft of the rotating motor 11 are connected through a connecting plate 12.

[0020] For the convenience of subsequent description, the two roller conveyors 13 on the same layer are respectively named as the left roller conveyor 131 and the right roller conveyor 132, during the working of the utility model, the automatic picking manipulator 2 starts picking from the mushroom cultivation frame 4 located at the top layer, during picking, the scanning camera continuously scans the mushroom maturity in the mushroom cultivation frame 4, and the automatic picking manipulator 2 picks the mature mushroom; when the mature mushrooms in the mushroom cultivation frame 4 are picked, the left roller conveyor 131 moves forward, so that the automatic picking manipulator 2 continues to pick the next basket of mushrooms. At this time, the mushroom cultivation frame 4 that has finished picking is transported from the left roller conveyor 131 to the roller tray 10, then the rotating motor 11 controls the rotation of the hollow column 7, the roller tray 10 after rotation is just connected with the right roller conveyor 132, the roller at the bottom of the roller tray 10 rotates, and the picked mushroom cultivation frame 4 is transported to the right roller conveyor 132, the roller tray 10 returns to the original position immediately after being empty, and the mushroom cultivation frame 4 at the end of the right roller conveyor 132 is pushed to the roller tray 10 on the other side of the mushroom fruiting stand 1, and then the mushroom cultivation frame 4 is transported to the left roller conveyor 131 through the rotation of the roller tray on the other side, and the roller tray 10 on the other side returns to the original position immediately after being empty, so that the closed loop transportation is completed.

[0021] When the mushrooms on one layer are picked, the lifting servo motor 9 controls the lifting shaft 8 to lower the roller trays 10 on both sides to the next layer, and a new round of picking work is started. Since the placement height of the mushroom cultivation frame 4 is lowered, the picking height of the automatic picking manipulator 2 can be lowered at this time, so that picking is facilitated.

Claims

1. A device for automatic picking of Lentinus edodes, comprising a Lentinus edodes fruiting frame (1) and an automatic picking manipulator (2) beside the Lentinus edodes fruiting frame (1), characterized in that: The shiitake mushroom fruiting frame (1) comprises several layers of roller conveying mechanisms (3), the shiitake mushroom cultivation frames (4) are placed on the roller conveying mechanisms (3), cultivation frame lifting and overturning mechanisms (5) are respectively installed on the two sides of the shiitake mushroom fruiting frame (1), and the cultivation frame lifting and overturning mechanisms (5) and the roller conveying mechanisms (3) of each layer respectively form a closed loop conveying structure.

2. The automatic picking device of Lentinus edodes mushrooms according to claim 1, characterized in that: The cultivation frame lifting and overturning mechanism (5) comprises a hollow stand column (7) installed on a base (6), a lifting shaft (8) is installed in the hollow stand column (7), a lifting servo motor (9) is installed at the top of the hollow stand column (7), the motor shaft of the lifting servo motor (9) penetrates into the hollow stand column (7) and is connected with the lifting shaft (8), and a roller tray (10) is sleeved on the lifting shaft (8); a rotating motor (11) is arranged on the base (6), and the bottom of the hollow stand column (7) and the motor shaft of the rotating motor (11) are connected through a connecting plate (12).

3. The automatic picking device of lentinula edodes according to claim 2, characterized in that: The roller conveying mechanism (3) comprises two roller conveying belts (13) arranged side by side, and the hollow stand column (7) is located between the two roller conveying belts (13).

4. The automatic picking device of lentinula edodes according to claim 1, characterized in that: The automatic picking mechanical hand (2) is provided with a scanning camera.

Images